Preliminary experiments on robotic assembly using a hybrid-type variable stiffness actuator

Byeong Sang Kim, Young Loul Kim, Jae Bok Song

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

8 Citations (Scopus)

Abstract

Precision robotic assembly requires compliant motion to avoid jamming or wedging. To achieve compliant motion, impedance control and a passive compliance device, such as a RCC (remote center compliance) device, have been used in robotic assembly. However, impedance control cannot provide low impedance for the high-frequency range, and load capacity and allowable misalignment of the RCC device are limited. To cope with these problems, we propose to use a variable stiffness actuator in robotic assembly. The 3-DOF manipulator including two HVSAs was developed, and the experiments on robotic assembly were carried out. Two HVSAs provide low impedance to compensate for the lateral and angular errors between the assembly parts. To show the advantages of the HVSA-actuated manipulator over the force-controlled manipulator, we conducted comparison experiments on robotic assembly with the 6-DOF robot manipulator which was controlled by an impedance controller. A series of experiments show that the HVSA-actuated manipulator is more beneficial to execute the tasks requiring both fast motion for high efficiency and low impedance for operational safety.

Original languageEnglish
Title of host publication2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011
Pages1076-1080
Number of pages5
DOIs
Publication statusPublished - 2011
Event2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011 - Budapest, Hungary
Duration: 2011 Jul 32011 Jul 7

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011
CountryHungary
CityBudapest
Period11/7/311/7/7

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Kim, B. S., Kim, Y. L., & Song, J. B. (2011). Preliminary experiments on robotic assembly using a hybrid-type variable stiffness actuator. In 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011 (pp. 1076-1080). [6027040] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2011.6027040