A Novel Robot Tool Manipulation Method for Battery Degumming Task

• Published in: 2024 7th International Symposium on Autonomous Systems (ISAS) pp. 1 - 5
• Main Authors: Jiangtao, Xiao, Yu, Xie, Renpeng, Wang, Jinhui, Zhang, Wei, Zhou, Yi, Zhang
• Format: Conference Proceeding
• Language: English
• Published: IEEE 07.05.2024
• Subjects: Batteries; battery degumming; Force; Force measurement; impedance control; Sensors; Surface impedance; Teamwork; tool contact identification; tool manipulation; Uncertainty

Battery degumming is an important part of electric vehicle battery assembly. However, uncertainties in the location and amount of adhesive overflow, coupled with the uneven nature of degumming surfaces, make traditional robot position control modes inadequate in such a scenario. In this paper, a nov...