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 language | English |
|---|---|
| Title of host publication | 2013 44th International Symposium on Robotics, ISR 2013 |
| DOIs | |
| Publication status | Published - 2013 Dec 1 |
| Event | 2013 44th IEEE International Symposium on Robotics, ISR 2013 - Seoul, Korea, Republic of Duration: 2013 Oct 24 → 2013 Oct 26 |
Other
| Other | 2013 44th IEEE International Symposium on Robotics, ISR 2013 |
|---|---|
| Country | Korea, Republic of |
| City | Seoul |
| Period | 13/10/24 → 13/10/26 |
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Keywords
- dual-arm robot
- impedance control
- jigless assembly
- Robotic Assembly
ASJC Scopus subject areas
- Artificial Intelligence
- Human-Computer Interaction
Cite this
Force control based jigless assembly strategy of a unit box using dual-arm and friction. / Kim, Young Loul; Song, Hee Chan; Song, Jae-Bok.
2013 44th International Symposium on Robotics, ISR 2013. 2013. 6695701.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Force control based jigless assembly strategy of a unit box using dual-arm and friction
AU - Kim, Young Loul
AU - Song, Hee Chan
AU - Song, Jae-Bok
PY - 2013/12/1
Y1 - 2013/12/1
N2 - 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.
AB - 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.
KW - dual-arm robot
KW - impedance control
KW - jigless assembly
KW - Robotic Assembly
UR - http://www.scopus.com/inward/record.url?scp=84893311836&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893311836&partnerID=8YFLogxK
U2 - 10.1109/ISR.2013.6695701
DO - 10.1109/ISR.2013.6695701
M3 - Conference contribution
AN - SCOPUS:84893311836
SN - 9781479911738
BT - 2013 44th International Symposium on Robotics, ISR 2013
ER -