Laser tracker-based control for peg-in-hole assembly robot

The peg-in-hole insertion is the most common and often one of the most important procedures in large-scale equipment manufacturing. However, in the process of peg-in-hole assembly operation using robot, the parts may not be assembled correctly or even be damaged because of the deviation causing by t...

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Bibliographic Details
Published inThe 4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent pp. 569 - 573
Main Authors Shuntao Liu, Chicheng Liu, Zhi Liu, Ying Xie, Jing Xu, Ken Chen
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2014
Subjects
Accuracy
Assembly
Jacobian matrices
Joints
Measurement by laser beam
Robot kinematics
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Summary:The peg-in-hole insertion is the most common and often one of the most important procedures in large-scale equipment manufacturing. However, in the process of peg-in-hole assembly operation using robot, the parts may not be assembled correctly or even be damaged because of the deviation causing by the inaccuracy of the assembly robot. To overcome this problem, this paper presents a kind of large-scale peg-in-hole robotic assembly system based on laser tracker and its corresponding control strategy. The simulation and analysis are also demonstrated to verify the system efficient.
DOI:10.1109/CYBER.2014.6917526