Research on large-scale heavy-load robot force control-compliant assembly methods based on force sensors

Assembly is an important part of the production of industrial robots. When the load is large, adjusting the robot's position and the contact force is difficult to control. This paper proposes a flexible assembly method for large-scale heavy-load machines based on a force sensor. First, the robo...

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Bibliographic Details
Published in2023 IEEE International Conference on Real-time Computing and Robotics (RCAR) pp. 170 - 175
Main Authors Duan, Lince, Zhao, Xingwei, Xue, Lei, Tao, Bo
Format Conference Proceeding
LanguageEnglish
Published IEEE 17.07.2023
Subjects
Industrial robots
Manipulators
Pins
Production
Real-time systems
Robot sensing systems
Service robots
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Summary:Assembly is an important part of the production of industrial robots. When the load is large, adjusting the robot's position and the contact force is difficult to control. This paper proposes a flexible assembly method for large-scale heavy-load machines based on a force sensor. First, the robotic arm moves the load to different positions to collect the force sensor information and calculates the parameters of robot base installation inclination, force sensor zero error, workpiece gravity, and center of gravity position. Then, real-time gravity compensation is realized according to the robot's position and posture. Mobile assembly is carried out according to the contact force value and all the holes on the cabin are plated into the pins. Experiments show that this method can improve the assembly accuracy of large-scale heavy-load robots and realize flexible robot assembly.
DOI:10.1109/RCAR58764.2023.10250136