Adaptive accommodation control method for complex assembly

Sungchul Kang, Munsang Kim, Shinsuk Park

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

Robotic systems have been used to automate assembly tasks in manufacturing and in teleoperation. Conventional robotic systems, however, have been ineffective in controlling contact force in multiple contact states of complex assembly dat involves interactions between complex-shaped parts. Unlike robots, humans excel at complex assembly tasks by utilizing their intrinsic impedance, forces and torque sensation, and tactile contact clues. By examining the human behavior in assembling complex parts, this study proposes a novel geometry-independent control method for robotic assembly using adaptive accommodation (or damping) algorithm. Two important conditions for complex assembly, target approach-ability and bounded contact force, can be met by the proposed control scheme. It generates target approachable motion that leads the object to move closer to a desired target position, while contact force is kept under a predetermined value. Experimental results from complex assembly tests have confirmed the feasibility and applicability of the proposed method.

Original languageEnglish
Pages (from-to)994-1002
Number of pages9
JournalJSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
Volume49
Issue number4
DOIs
Publication statusPublished - 2007 Jun 15

Keywords

  • Adaptive accommodation control
  • Bounded contact force
  • Complex assembly
  • Expanded admissible motion space
  • Target approachability

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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