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Force Controlled Assembly of Emergency Stop Button

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Author

Summary, in English

Modern industrial robots are fast and have very good repetitional accuracy, which have made them indispensable in many manufacturing applications. However, they are usually programmed to follow desired trajectories and only get feedback from position sensors. This works fine as long as the environment is very well structured, but does not give good robustness to objects not being positioned or gripped accurately. A solution is to use additional sensing, such as force sensors and vision. How to combine the data from the different sensors and use it in a good way to control the robot is still an area of research.



This paper describes an assembly scenario where a switch should be snapped into place in a box. Force sensing is used to resolve the uncertain position of the parts and detect the snap at the end of the operation. During the assembly an uncertain distance is estimated to improve the performance. By performing the assembly several times, learning is used to generate feed-forward data, which is used to speed up the assembly.

Publishing year

2011

Language

English

Publication/Series

Proc. 2011 IEEE International Conference on Robotics and Automation (ICRA2011)

Document type

Conference paper

Topic

  • Control Engineering

Conference name

IEEE International Conference on Robotics and Automation, 2011

Conference date

2011-05-09 - 2011-05-13

Conference place

Shanghai, China

Status

Published

Project

  • ROSETTA
  • Robotics Lab LTH

Research group

  • LCCC