TY - GEN
T1 - A strategy for connector assembly using impedance control for industrial robots
AU - Cho, Hyun Cheol
AU - Kim, Young Loul
AU - Kim, Byeong Sang
AU - Song, Jae Bok
PY - 2012
Y1 - 2012
N2 - A compliant motion as well as a stable contact should be guaranteed in the assembly process using industrial robots because two or more parts may physically contact during an assembly task. However, there are some uncertainties such as positioning errors between a manipulator and an object on the conveyor system. To cope with this problem, impedance control using a force/torque sensor was introduced to estimate the actual position of the task objects and to avoid an excessive contact force. In this paper, a connector assembly strategy by an industrial robot is proposed, which is to be used at the shop floor. The experimental setup resembling the actual assembly line was prepared, and impedance control based on a 6-asix force/torque sensor is implemented. The dimensions obtained from the CAD model of the LCD panel is primarily used to minimize the time consumption for the searching process, and the position uncertainties are corrected by measuring the contact position of the LCD panel. From a series of experiments, it is shown that connector assembly using an industrial robot can be conducted using the proposed strategy.
AB - A compliant motion as well as a stable contact should be guaranteed in the assembly process using industrial robots because two or more parts may physically contact during an assembly task. However, there are some uncertainties such as positioning errors between a manipulator and an object on the conveyor system. To cope with this problem, impedance control using a force/torque sensor was introduced to estimate the actual position of the task objects and to avoid an excessive contact force. In this paper, a connector assembly strategy by an industrial robot is proposed, which is to be used at the shop floor. The experimental setup resembling the actual assembly line was prepared, and impedance control based on a 6-asix force/torque sensor is implemented. The dimensions obtained from the CAD model of the LCD panel is primarily used to minimize the time consumption for the searching process, and the position uncertainties are corrected by measuring the contact position of the LCD panel. From a series of experiments, it is shown that connector assembly using an industrial robot can be conducted using the proposed strategy.
KW - Connector assembly
KW - Environmental uncertainty
KW - Impedance control
KW - Industrial robot
UR - http://www.scopus.com/inward/record.url?scp=84872510881&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872510881&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84872510881
SN - 9781467322478
T3 - International Conference on Control, Automation and Systems
SP - 1433
EP - 1435
BT - ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
T2 - 2012 12th International Conference on Control, Automation and Systems, ICCAS 2012
Y2 - 17 October 2012 through 21 October 2012
ER -