An Approach for Direct Offline Programming of High Precision Assembly Tasks on 3D Scans Using Tactile Control and Automatic Program Adaption

AbstractThis contribution defines a methodology for the direct offline programming of robotic high-precision assembly tasks without the need for real-world teach-in, even for less-accurate lightweight robots. Using 3D scanning technologies, the relevant geometrical relations of the offline programming environment are adjusted to the real application. To bridge remaining accuracy gaps, tactile insertion algorithms are provided. As repetitive inaccuracy compensation through tactile search is considered wasteful, a method to automatically adapt the robot program to continuously increase precision over time, taking into account multiple influence sets is derived. The presented methodology is validated on a real-world use case from electronics production.