Real-time movement synthesis for dynamic robot precision assembly task

• Grant number: 15/07484-9
• Support Opportunities: Scholarships in Brazil - Master
• Start date: July 01, 2015
• End date: February 28, 2017
• Field of knowledge: Engineering - Mechanical Engineering
• Agreement: Coordination of Improvement of Higher Education Personnel (CAPES)
• Principal Investigator: Glauco Augusto de Paula Caurin
• Grantee: Gustavo Jose Giardini Lahr
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
• Associated research grant: 13/07276-1 - CEPOF - Optics and Photonic Research Center, AP.CEPID

Abstract

This study is intended for analysis of contemporary tools of planning, control, modeling, simulation and robot experiments, necessary and sufficient to enable a robotic system to perform the assembly of complex aircraft structures, taking into account the establishment of contact and the friction presence with the work surfaces. The modeling and simulation of robotic systems will be treated with a multibody system dynamics approach, an area that has been rejuvenated and transformed by the use and advancement of new computer hardware, and the implementation of new software strategies. We will take as example the assembly of threaded necklaces used in aircrafts fuselage to fix the structures. The assembly of this type of mechanical fasteners is currently carried out manually in the aerospace industry, since the variety of operating conditions impose nontrivial challenges to the control process stability as well as the ability to generate command sequences (planning) effective for the tasks. The approaches to be investigated combine dynamic programming with models predictive control and current interpretations of contact modeling, for example, linear and nonlinear complementarity problems. From the proposals validation point of view, it is intended to test the ability and the complexity of simulated algorithms through it experimental implementation in a simplified scenario, consisting of an industrial robot and an open architecture scientific robot. (AU)

Scientific publications

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

LAHR, GUSTAVO J. G.; GARCIA, HENRIQUE B.; SAVAZZI, JOSE O.; MORETTI, CAIO B.; AROCA, RAFAEL V.; PEDRO, LEONARDO M.; BARBOSA, GUSTAVO F.; CAURIN, GLAUCO A. P.; BICCHI, A; OKAMURA, A. Adjustable interaction control using genetic algorithm for enhanced coupled dynamics in tool-part contact. 2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), v. N/A, p. 6-pg., 2017-01-01. (15/07484-9, 15/24343-0, 13/07276-1)

LAHR, GUSTAVO J. G.; GARCIA, HENRIQUE B.; SILVA, THIAGO H. S.; CAURIN, GLAUCO A. P.; FLEURY, AD; RADE, DA; KURKA, PRG. Hardware-in-the-Loop Optimization of an Interaction Controller for Improved Coupled Dynamics. PROCEEDINGS OF DINAME 2017, v. N/A, p. 13-pg., 2019-01-01. (15/07484-9, 15/24343-0, 13/07276-1)