DocumentCode
300076
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
Volume
2
fYear
1995
fDate
21-27 May 1995
Firstpage
2108
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location
Nagoya
ISSN
1050-4729
Print_ISBN
0-7803-1965-6
Type
conf
DOI
10.1109/ROBOT.1995.525572
Filename
525572
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