Assembly automation using vibratory end effector: modeling and stability analysis

An approach for overcoming the difficulties in force-guided assembly for real manufacturing applications is presented. The perturbation/correlation based control for a robot system is generalized, and then applied to the pipe insertion task which is difficult using conventional force guided control. Based on the analytic model of this controller, a Popov stability criterion is applied to cope with the unknown nonlinearity in the environment. Several critical assumptions are verified based on the experimental data, and the guide line to select parameters involved in this method is presented. Through an experiment, the feasibility and usefulness of this approach are demonstrated. A vibratory end-effector using a piezoelectric actuator was designed and implemented