Force-responsive robotic assembly of transmission components

Author

Newman, Wyatt S. ; Branicky, Michael S. ; Podgurski, H. Andy ; Chhatpar, Siddharth ; Huang, Ling ; Swaminathan, Jayendran ; Zhang, Hao

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., Case Western Reserve Univ., Cleveland, OH, USA

Volume

3

fYear

1999

fDate

1999

Firstpage

2096

Abstract

Assembly tasks involving large position uncertainties are unsuitable for use of position-controlled robots. To automate such tasks, the assembly system must be responsive to contact forces. Issues in addressing force-responsive automated assembly include contact stability, the degree of force responsiveness required for success, the speed of a successful implementation, and the means to program a force-responsive system to perform a given assembly task. We examine these issues for robotic assembly in the context of automotive transmission components. We report on an impedance-based low-level algorithm and its interface to higher-level strategies that exhibits gentle, fast and reliable assembly of our example components

Keywords

assembling; automobile industry; force feedback; industrial control; industrial manipulators; mechanical stability; uncertain systems; assembly task; automotive transmission components; contact forces; contact stability; force responsiveness; force-responsive automated assembly; force-responsive robotic assembly; impedance-based low-level algorithm; position uncertainties; position-controlled robots; transmission components; Assembly systems; Delay; Force control; Impedance; Intelligent robots; Robot sensing systems; Robotic assembly; Stability; Uncertainty; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.770416

Filename

770416