Title :
Tightening torque estimation of a screw tightening robot
Author :
Matsumura, M. ; Itou, S. ; Hibi, H. ; Hattori, M.
Author_Institution :
Nippondenso Co. Ltd., Aichi, Japan
Abstract :
A screw tightening robot with AC servomotors, without any torque sensor was developed for a variety of screws. In order to detect the accurate tightening torque, we developed a new torque estimation method by measuring the electrical current of the motor and calculating it in real time. The screw-driving process is controlled by the 4th joint´s motion of the robot. Thus, this robot can tighten screws accurately and reliably without extra cost
Keywords :
AC motor drives; assembling; industrial manipulators; manipulators; process control; real-time systems; servomotors; torque control; AC servomotors; electrical current; real time system; screw tightening robot; screw-driving process; tightening torque estimation; AC generators; AC motors; Current measurement; Fasteners; Feeds; Robot sensing systems; Robotics and automation; Servomechanisms; Servomotors; Torque control;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525572
