Error Recovery in Robot-Based Assembly (SA/FP/IDP/MA)

Kurzbeschreibung

Beschreibung Motivation At the iwb, research is being con-ducted on the robot-based as-sembly of deformable cables in order to improve ergonomics, quality, and efficiency. The ca-bles' hard-to-predict behavior introduces uncertainties that make robust automation difficult. Objective The aim of the thesis is to develop a methodology for error handling in robot-based cable assembly. Possible Tasks • Analysis of error signals and their temporal characteristics • Structuring of possible strategies for reactive and preventive error handling • Development of a pipeline for error recovery • Integration of a simulation-based validation of the strategies • Setup and execution of experiments to validate the pipeline • Evaluation of different error-handling strategies Voraussetzungen Requirements • Structured way of working • Good programming skills • Ability to solve problems independently Contact M. Sc. Celina Dettmering Department Assembly Technology and Robotics Celina.Dettmering<script>document.write('@');</script> <noscript>(at)</noscript>iwb.tum.de