Abstract
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.
| Original language | English |
|---|---|
| Title of host publication | International Conference on Control, Automation and Systems |
| Pages | 1433-1435 |
| Number of pages | 3 |
| Publication status | Published - 2012 Dec 1 |
| Event | 2012 12th International Conference on Control, Automation and Systems, ICCAS 2012 - Jeju, Korea, Republic of Duration: 2012 Oct 17 → 2012 Oct 21 |
Other
| Other | 2012 12th International Conference on Control, Automation and Systems, ICCAS 2012 |
|---|---|
| Country | Korea, Republic of |
| City | Jeju |
| Period | 12/10/17 → 12/10/21 |
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Keywords
- Connector assembly
- Environmental uncertainty
- Impedance control
- Industrial robot
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Science Applications
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
A strategy for connector assembly using impedance control for industrial robots. / Cho, Hyun Cheol; Kim, Young Loul; Kim, Byeong Sang; Song, Jae-Bok.
International Conference on Control, Automation and Systems. 2012. p. 1433-1435 6393061.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
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 - 2012/12/1
Y1 - 2012/12/1
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
SP - 1433
EP - 1435
BT - International Conference on Control, Automation and Systems
ER -