Force Controlled Assembly of Flexible Aircraft Structure

Andreas Stolt, Magnus Linderoth, Anders Robertsson, Marie Jonsson, Tom Murray

Research output: Contribution to conferencePaper, not in proceedingpeer-review

10 Citations (SciVal)
141 Downloads (Pure)


The use of industrial robots in the aircraft industry has been hampered by a combination of poor accuracy of the robots and poor calibration of the workcell, and also manufacturing variability in composite parts. A way to handle these difficulties is using force control. An experimental case where a semi-compliant rib is aligned to multiple surfaces is used as an example to show this. The constraint-based task specification framework is used for the modelling and control, and the search and alignment sequence required for the assembly is modeled with a state machine. An implementation on an industrial robot system is presented and experimental data is evaluated. The described approach is easy to apply to other fields and more complicated assembly operations as well.
Original languageEnglish
Publication statusPublished - 2011
EventIEEE International Conference on Robotics and Automation, 2011 - Shanghai, China
Duration: 2011 May 92011 May 13


ConferenceIEEE International Conference on Robotics and Automation, 2011

Bibliographical note


Subject classification (UKÄ)

  • Control Engineering


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