Title :
An augmented task level programming system of force controlled assembly operations
Author :
Leysen, J. ; Van Brussel, H. ; De Schutter, J.
Author_Institution :
Dept. Mech. Eng., Katholieke Univ. Leuven, Heverlee, Belgium
Abstract :
The authors describe a system that synthesizes robot programs for two-dimensional assemblies. Starting from a high-level problem definition, a number of algorithmic and heuristic modules gradually build a network of augmented compliant motion specification, determining how the robot must execute the successive assembly stages. The system has been implemented on a workstation yielding a satisfactory performance
Keywords :
assembling; compliance control; industrial robots; manufacturing data processing; robot programming; 2D assembly; compliant motion; heuristic modules; industrial robots; robot programming; Assembly systems; Collision mitigation; Control system synthesis; Control systems; Force control; Force measurement; Robot programming; Robot sensing systems; Robotic assembly; Workstations;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.220076
