Integrated robotic system for high precision assembly in a semi-structured environment

被引：28

作者：

Chen, Heping ^{[1
]}

Zhang, George ^{[1
]}

Zhang, Hui ^{[1
]}

Fuhlbrigge, Thomas A. ^{[1
]}

机构：

[1] ABB Inc, ABB Corp Res Ctr, Robot & Automat Labs, Windsor, CT 06095 USA

来源：

ASSEMBLY AUTOMATION | 2007年 / 27卷 / 03期

关键词：

assembly; robotics; visual perception; force; automotive industry;

D O I：

10.1108/01445150710763277

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Purpose - This paper aims to develop a strategy for high-precision assembly in a semi-structured environment based on vision and force control. Design/methodology/approach - The position and orientation of a part are identified using the vision system. The force/torque control algorithm is then applied to perform a tight-tolerance assembly that is a high-precision assembly. Findings - The tight tolerance assembly in a semi-structured environment is successfully implemented using vision guidance and force/torque-control strategy. Practical implications - The developed methodology can be applied to tight tolerance assembly, such as forward-clutch assembly, torque-converter assembly, etc. Originality/value - An industrial assembly methodology has been developed and implemented for high-precision assembly in a semi-structured environment. This innovation has many potential applications in automotive manufacturing.

引用

页码：247 / 252

页数：6