Title :
On-pendant robotic assembly parameter optimization
Author :
Zhang, Hui ; Bell, Arnold ; Hui Zhang ; He, Jianmin ; Wang, Jianjun ; Martinez, Carlos
Author_Institution :
Corp. Res. Center, ABB Inc., Windsor, CT
Abstract :
This paper presents on-pendant assembly parameter optimization with an industrial robot with force control. ABB industrial robot and its latest controller IRC5 is used as the host platform of the development; design of experiment (DOE) method is used as an optimization tool; and automatic transmission torque converter assembly is used as a test case. All tasks such as data manipulation, data analysis, result presentation and user interface, except robot motion execution, were performed on a graphical teach pendent. Teach pedant GUI building software ScreenMaker is used in the development. This on-pendant parameter optimization tool greatly reduced the complexity of assembly parameter optimization process and the workload of robot userpsilas.
Keywords :
computational complexity; control engineering computing; design of experiments; force control; graphical user interfaces; robotic assembly; ABB industrial robot; IRC5 controller; ScreenMaker; automatic transmission torque converter assembly; design of experiment method; force control; on-pendant robotic assembly parameter optimization; teach pedant GUI building software; Automatic control; Design optimization; Force control; Industrial control; Robotic assembly; Robotics and automation; Service robots; Torque control; Torque converters; US Department of Energy; Industrial robot; force control; parameter optimization; robotic assembly;
Conference_Titel :
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-2113-8
Electronic_ISBN :
978-1-4244-2114-5
DOI :
10.1109/WCICA.2008.4592982
