MA: Manipulation Strategies for the Assembly of Unordered Wire Harnesses

Institut

Institut für Werkzeugmaschinen und Betriebswissenschaften (TUM-ED)

Typ

Masterarbeit /

Inhalt

 

Beschreibung

Motivation 

Automating wire harness assembly remains an unsolved challenge in industrial production because of their deformability. Computer vision and tactile sensing are promising enablers for robotic automation of such tasks. Both technologies are investigated at the iwb within the applied research project RoLei. Recent methods can estimate the topology of a wire harness from a camera image. What they do not provide is a decision on how to act on it. Since harnesses are supplied unordered, the question arises which branch and connector should be assembled first to prevent new entanglements.

 

Objective

The goal of this thesis is to investigate manipulation strategies to assemble wire harnesses onto an assembly board with fixtures. State-of-the-art methods are to be evaluated and further developed for this purpose. The result should be a heuristic, based on which the next component, either a connector or a branch, is selected for manipulation. The heuristic should be evaluated with robot experiments. ROS 2 should be used for implementation. A UR10e robot, a 3D camera and tactile sensors are available.

Voraussetzungen

• solid programming skills, ideally Python and ROS 2

• experience with robots

• structured and independent way of working

Please include your current transcript of records in your application.

Möglicher Beginn

Oktober

Kontakt

Florian Pachler
Raum: 1308
florian.pachleriwb.tum.de

Ausschreibung