DocumentCode :
3050153
Title :
A formal part mating model for generating compliance control strategies of assembly operations
Author :
Kim, Myong Gi ; Wu, Chi-Haur
Author_Institution :
Foretell Corp., Deerfield, IL, USA
fYear :
1990
fDate :
4-7 Nov 1990
Firstpage :
611
Lastpage :
616
Abstract :
A theoretical part-mating model is proposed for automatically generating compliance control strategies for generic assembly operations in a systematic way. Based on the unique geometric relationship between two mating parts, 28 constraint configurations are identified to distinguish 17 part-mating types. Each constraint configuration is represented by combinations of three translational and three rotational motion components. After three constraint configurations (before, during, and after a desired mating operation) are identified, the sequence of constraints for this part-mating operation can be determined. From the constraint configurations obtained, a set of compliance control strategies based on the motion constraints described by the constraint configurations can be generated. On the basis of this principle, an algorithm for automatically generating compliance control strategies is developed. An algorithm for generating corrective actions is also developed. The generated active compliance control strategies can be used for robot compliance control
Keywords :
assembling; industrial robots; planning (artificial intelligence); position control; production control; assembly; constraint configurations; formal part mating model; motion constraints; planning; production control; robot compliance control; rotational motion; translational motion; Assembly systems; Automatic control; Automatic generation control; Force control; Manufacturing automation; Manufacturing processes; Motion control; Position control; Robotic assembly; Robotics and automation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems, Man and Cybernetics, 1990. Conference Proceedings., IEEE International Conference on
Conference_Location :
Los Angeles, CA
Print_ISBN :
0-87942-597-0
Type :
conf
DOI :
10.1109/ICSMC.1990.142185
Filename :
142185
Link To Document :
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