Call1 Monitoring Jilas

Public Summary Month 20/2012

Thu, 21 Jun 2012 07:31:22 GMT

The JILAS experiment was successfully demonstrated at the Automatica 2012 in Munich.

A multimedia report is available: http://youtu.be/ovyQcHwtN0o

The experiment is finished.

Public Summary Month 18/2012

Mon, 16 Apr 2012 07:38:37 GMT

The JILAS experiment has been chosen to be shown at the fair "Automatica 2012" in Munich. At the ECHORD booth a robot supported assembly of airplane components can partly be performed by the visitors.

Public Summary Month 16/2012

Wed, 08 Feb 2012 10:34:57 GMT

At the moment the experiments are continuing on.

Status: A robot supported assembly of the components is possible. The operator has the possibility, to support the assembly process by exerting forces to the component in the robot gripper while the robot is moving to the target position. Improvements of the controller algorithms are currently investigated.

The Human-Machine-Interface is extended by presenting system informations in an intuitive understandable way to the operator, therefore additional hardware(touchscreen, spacemouse) is currently built in.

Public Summary Month 14/2011

Thu, 08 Dec 2011 14:38:09 GMT

First force- and target guided positioning tasks of the airplane component have been performed. The challange is, to handle the coupling of relatively soft parts of the components (e.g. the elastic ends of the formers see here ) as well as stiff parts (see here ). Further efforts have to be made to develop a robust controller strategy.

A measurement system available at ZHAWs premises (Leica TS30) is installed in the lab and connected to the system via a serial interface. In a first step the position of components will be measured via attached reflex tapes previously attached to them. You can see the actual status of the measurement system here .

Public Summary Month 12/2011

Mon, 17 Oct 2011 10:18:39 GMT

In order to assemble parts, the forces of the assembly movement have to be controlled. In the JILAS experiment this is done via a force sensor mounted at the wrist of the robot.

Different controller strategies were discussed and assessed for their use in the contact task during the assembly of the airplane components.

==> see here and here for a demonstration of two different algorithms. In the first video you see the robot laying down a part. The second video shows a simple force controlled assembly of two parts. Both movements are controlled by the use of the force sensor signals.

Public Summary Month 10/2011

Thu, 04 Aug 2011 07:21:59 GMT

Summary

The JILAS project is now fully in its experimental phase. A software for the compensation of forces and torques induced by the movement of the gripped component is developed and is fully functional. This allows the movement of the gripped airplane part in all six degrees of freedom by exerting small guiding forces to the gripper or the gripped part.

Demo see here.

Current work: In a first step, strategies for the handling of the coupling forces will be created and tested.

Public Summary Month 8/2011

Mon, 30 May 2011 07:07:27 GMT

Since this month the test-bed is finally available and fully functional. In a first step we will assemble the components by the handguided and forcecontrolled robot in order to research the occuring contact forces and to develop strategies to handle them. In a second step, we will define a measurement strategy in order to assemble the components by the use of a Leica Absolute Tracker.

Fig. 1: The testbed in the ZHAW lab

Public Summary Month 3/2011

Thu, 31 Mar 2011 09:34:58 GMT

In this second project phase (months 4-6) the robot could be finally ordered after receiving the funds of EU. After the modifications by our partner MRK the delivery of the robot at ZHAW is awaited in week 18/2011. Thus the hardware installation will not be finished before end of May 2011. The lab at the premises of ZHAW is prepared, the installation of a concrete fundament for the robot is in process.

The airplane fuselage is ready to ship to ZHAW (delivery in week 14/2011), a rack for installing the fuselage is built up. A robot gripper for of the fuselage component grasping is developed and built up.

The task researching the compensation of forces and torques induced by the movement of the gripped component is still ongoing.

During a visit to Leica Geosystems, the suitable measurement equipment was discussed and the availability for the JILAS experiment was checked.

As far as possible without robot controller available the software development phase is started. Parts of the mainprogram are in work or already realised.

Public Summary Month 1/2011

Thu, 27 Jan 2011 10:19:28 GMT

In the first three months of the JILAS experiment the focus has been set on the description of the concept and the development of the testbed layout. Developing the concept has shown where the essential technical difficulties lie.

The installation of the test bed is initiated by preparing the laboratory facilities and the ordering of the airplane fuselage and the robot- and measurement hardware.

During a visit to Pilatus Aircraft Ltd, the current manual assembly process was observed and analyzed.