Abstract
The number of industrial robots applied in the area of assembly is yet very small — in opposite to other production areas. One reason for this is, that industrial robots do not yet have the sensitive abilities required for the assembly process and the control of assembly operations. One of the objectives of the research work at the Fraunhofer-Institute for Manufacturing Engineering and Automation (IPA), Stuttgart, was therefore to solve the problems of joining by means of tactile sensors and visual control. The solutions which were found and which will be applied for industrial robots in the future are described in this report.
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