A strategy for connector assembly using impedance control for industrial robots

Hyun Cheol Cho, Young Loul Kim, Byeong Sang Kim, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

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 languageEnglish
Title of host publicationICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
Pages1433-1435
Number of pages3
Publication statusPublished - 2012
Event2012 12th International Conference on Control, Automation and Systems, ICCAS 2012 - Jeju, Korea, Republic of
Duration: 2012 Oct 172012 Oct 21

Publication series

NameInternational Conference on Control, Automation and Systems
ISSN (Print)1598-7833

Other

Other2012 12th International Conference on Control, Automation and Systems, ICCAS 2012
CountryKorea, Republic of
CityJeju
Period12/10/1712/10/21

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

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  • Cite this

    Cho, H. C., Kim, Y. L., Kim, B. S., & Song, J. B. (2012). A strategy for connector assembly using impedance control for industrial robots. In ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems (pp. 1433-1435). [6393061] (International Conference on Control, Automation and Systems).