This paper describes the development of a robotic assembly system for the assembly of consumer products in the food and personal care industry. Most commercially available manipulators are equipped with PID motion controllers which are suited for pick-and-place operations. Here we considered assembly of products under conditions of geometric deviations, a task for which PID controllers are less suited. The feasibility of such assembly tasks was investigated using an industrial manipulator provided with an impedance controller. Results indicate that a proper set of product related impedances enables the system to cope with relatively large positioning errors, resulting in more reliable assembly.
|Title of host publication||Proceedings of the 1997 American Control Conference|
|Number of pages||5|
|Publication status||Published - 1 Jan 1997|
|Event||1997 American Control Conference, ACC 1997 - Albuquerque, United States|
Duration: 4 Jun 1997 → 6 Jun 1997
|Conference||1997 American Control Conference, ACC 1997|
|Period||4/06/97 → 6/06/97|