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Self-optimizing compensation of large component deformations

One major challenge in aircraft assembly is the compensation of deformations of large components. These deformations are product-specific and can not be planned in advance. For an efficient use of robot-based assembly system not only automated but self-optimizing control strategies are required which can autonomously adapt robot motions and forces depending on the current situation. For this control scenario models are needed which describe the components behavior to external forces and can be used for process control. For an efficient calculation during assembly the model is based on simple mathematical equations - accuracy is achieved by integrating a measurement routine to identify deformations and stiffness parameters of the component in order run the models and algorithms with real product parameters. The models and algorithms are implemented and validated within a simulation environment and will be applied to a robot system for shell assembly in future research.