Sensor-Guided Assembly of Segmented Structures with Industrial Robots

This paper presents a robotic assembly methodology for the manufacturing of large segmented composite structures. The approach addresses three key steps in process: panel localization and pick-up, transport, placement. Multiple stationary robot-mounted cameras provide information alignment. A robot wrist-mounted force/torque sensor enables gentle but secure pick-up Human-assisted path planning ensures reliable collision-free motion with load tight space. finite state machine governs process flow user interface. It allows interruption return to previous known case error condition or when secondary operations are needed. For performance verification, high resolution capture system provides ground truth reference. An experimental testbed integrating an industrial robot, vision force sensors, representative laminated panels demonstrates feasibility proposed process. Experimental results show sub-millimeter placement accuracy shorter cycle times, lower contact force, reduced oscillation than manual operations. work versatility guided operation complex end-to-end tasks using open source Robot Operating System (ROS) software framework.