Predictive Control for Robot-Assisted Assembly in Motion within Free Float Flawless Assembly

This work focuses on the application of model predictive control (MPC) to the trajectory tracking problem for the integrated assembly of truck windshields in motion. Due to the continuous movement of the products, the handling device holding the windshield must be synchronized to the moving truck cabin to meet tolerance requirements. Using a MPC approach a model is derived to simulate the future system behavior to obtain a control law. The application of the control model is numerically simulated for effectiveness over short time periods for transient targets. The simulated results are experimentally verified on a full-scale demonstrator mimicking an actual assembly line environment. The experimental results show that the MPC approach is suitable for a windshield assembly in motion compensating system dead times and fulfilling synchronization between handling system and product. The presented approach allows for the efficient integration of automated assembly processes using state of the art handling systems into continuously moving assembly lines.