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

Institut

Institut für Werkzeugmaschinen und Betriebswissenschaften (TUM-ED)

Typ

Semesterarbeit / Masterarbeit /

Inhalt

experimentell /  

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 
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Möglicher Beginn

sofort

Kontakt

Celina Dettmering
Raum: MW 1304
Tel.: +49 89 289 554 63
celina.dettmeringiwb.tum.de

Ausschreibung