Reliable assembly of products using an impedance controlled manipulator

M. J. de Krijger; W. T.C. van Luenen; S. T. Pedersen; S. Stramigioli

doi:10.1109/ACC.1997.612003

Reliable assembly of products using an impedance controlled manipulator

M. J. de Krijger^*, W. T.C. van Luenen, S. T. Pedersen, S. Stramigioli

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

Abstract

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.

Original language	English
Title of host publication	Proceedings of the 1997 American Control Conference
Pages	2977-2981
Number of pages	5
Volume	5
DOIs	https://doi.org/10.1109/ACC.1997.612003
Publication status	Published - 1 Jan 1997
Externally published	Yes
Event	1997 American Control Conference, ACC 1997 - Albuquerque, United States Duration: 4 Jun 1997 → 6 Jun 1997

Conference

Conference	1997 American Control Conference, ACC 1997
Abbreviated title	ACC
Country/Territory	United States
City	Albuquerque
Period	4/06/97 → 6/06/97

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10.1109/ACC.1997.612003

Cite this

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title = "Reliable assembly of products using an impedance controlled manipulator",

abstract = "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.",

author = "{de Krijger}, {M. J.} and {van Luenen}, {W. T.C.} and Pedersen, {S. T.} and S. Stramigioli",

year = "1997",

month = jan,

day = "1",

doi = "10.1109/ACC.1997.612003",

language = "English",

isbn = "0-7803-3832-4",

volume = "5",

pages = "2977--2981",

booktitle = "Proceedings of the 1997 American Control Conference",

note = "1997 American Control Conference, ACC 1997, ACC ; Conference date: 04-06-1997 Through 06-06-1997",

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T1 - Reliable assembly of products using an impedance controlled manipulator

AU - de Krijger, M. J.

AU - van Luenen, W. T.C.

AU - Pedersen, S. T.

AU - Stramigioli, S.

PY - 1997/1/1

Y1 - 1997/1/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0030684546&partnerID=8YFLogxK

U2 - 10.1109/ACC.1997.612003

DO - 10.1109/ACC.1997.612003

M3 - Conference contribution

AN - SCOPUS:0030684546

SN - 0-7803-3832-4

VL - 5

SP - 2977

EP - 2981

BT - Proceedings of the 1997 American Control Conference

T2 - 1997 American Control Conference, ACC 1997

Y2 - 4 June 1997 through 6 June 1997

ER -

Reliable assembly of products using an impedance controlled manipulator

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