An integrated approach towards robotic modular fixture assembly

Author

Xiao-Qi Chen ; Beng Siong Lim ; Lim, R.

Author_Institution

GINTIC Inst. of Manuf. Technol., Nanyang Technol. Univ., Singapore

Volume

4

fYear

1993

fDate

19-21 Oct. 1993

Firstpage

169

Abstract

A prototype twin-arm robot workcell has been developed for modular fixture assembly. Model-based robot programming plans collision free robot path, and generates an off-line program. A six-component force/torque sensor detects local frames in the real world. Automatic framing compensates the discrepancy between the ideal world in the CAD model and the real world. By means of active force control, automatic error recovery can be incorporated to enhance the reliability of robot operation.<>

Keywords

assembling; force control; industrial robots; intelligent control; path planning; robot programming; robots; CAD model; active force control; automatic error recovery; automatic framing; force sensor; model-based robot programming; path planning; robotic modular fixture assembly; torque sensor; twin-arm robot workcell; Error correction; Fixtures; Force control; Force sensors; Prototypes; Robot programming; Robot sensing systems; Robotic assembly; Robotics and automation; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

TENCON '93. Proceedings. Computer, Communication, Control and Power Engineering.1993 IEEE Region 10 Conference on

Conference_Location

Beijing, China

Print_ISBN

0-7803-1233-3

Type

conf

DOI

10.1109/TENCON.1993.320460

Filename

320460