ROBOT SYSTEM FOR INSERTING A WORKPIECE INTO ANOTHER WORKPIECE AND METHOD FOR CONTROLLING SAME

ROBOT SYSTEM FOR INSERTING A WORKPIECE INTO ANOTHER WORKPIECE AND METHOD FOR CONTROLLING SAME

A technique automates robotic assembly of two parts with a fastener structure including an engaging portion and a receiving portion. A robot system includes a robot that grips a workpiece, a force sensor located on the robot to measure a force and a moment acting on the workpiece, and a controller t...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: LIU, Zhiqiang, TSUCHIHASHI, Yuki, MURAI, Masahiro
Format: Patent
Sprache:eng ; fre ; ger
Schlagworte:
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Beschreibung
Zusammenfassung:A technique automates robotic assembly of two parts with a fastener structure including an engaging portion and a receiving portion. A robot system includes a robot that grips a workpiece, a force sensor located on the robot to measure a force and a moment acting on the workpiece, and a controller that controls the robot. The controller monitors, while moving the workpiece in a direction along a first axis and inserting the workpiece into a part, a change in a force F in the direction along the first axis and a change in a moment M about a second axis perpendicular to the first axis measured by the force sensor to determine a state of assembly of the workpiece with the part.