TY  - CONF
A1  - Gödrich, Axel
A1  - Schmidt-Vollus, Ronald
A1  - Hölzer, Christian
A1  - Jehle, Georg
A1  - Helldorfer, Bastian
T1  - Modeling Flexible Parts for Robotic Assembly Simulations
T2  - 2022 10th International Conference on Systems and Control (ICSC)
N2  - The handling of flexible components, such as rubber sealings or cables, is an essential part of industrial manufacturing. Automating such processes through robotics is still a major challenge. Machine learning-based training of robots in combination with simulation has led to promising results in other areas of robotics. This approach can potentially be applied to assembly tasks as well. However, current simulation tools for robotics generally do not have capabilities for simulating flexible bodies. In this work, an approach for modeling such flexible bodies is proposed, which can be implemented with most common robotic simulation programs. Using the example of a rubber O-ring sealing, this approach was tested in such program and the results were compared with a professional multi-body physics engine. Realistic behavior of the O-ring was achieved with relatively low computation times.
KW  - Structural rings , Training , Robotic assembly , Service robots , Computational modeling , Manufacturing , Rubber
Y1  - 2023
UR  - https://opus4.kobv.de/opus4-ohm/frontdoor/index/index/docId/2188
PB  - IEEE
ER  -