Force control based jigless assembly strategy of a unit box using dual-arm and friction

Young Loul Kim, Hee Chan Song, Jae Bok Song

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

Abstract

There can be many issues when automating a cell manufacturing process using a robot, and the use of a jig is one of them. The last step of a manufacturing process is closing the lid of a product, and it is desirable to perform such a task without using a jig to improve the manufacturing efficiency. In this study, we propose a novel algorithm which uses a dual-arm robot or the friction of the box to compensate for the initial position and orientation errors between the box and the lid. Then, force control can be used to combine the proposed algorithm with an assembly algorithm, enabling a robot to close the lid of a box without a jig regardless of its initial position and orientation errors. The performance of the proposed algorithm was verified through experiments.

Original languageEnglish
Title of host publication2013 44th International Symposium on Robotics, ISR 2013
DOIs
Publication statusPublished - 2013
Event2013 44th IEEE International Symposium on Robotics, ISR 2013 - Seoul, Korea, Republic of
Duration: 2013 Oct 242013 Oct 26

Publication series

Name2013 44th International Symposium on Robotics, ISR 2013

Other

Other2013 44th IEEE International Symposium on Robotics, ISR 2013
CountryKorea, Republic of
CitySeoul
Period13/10/2413/10/26

Keywords

  • Robotic Assembly
  • dual-arm robot
  • impedance control
  • jigless assembly

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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