Multi-robot control for flexible fixtureless assembly of flexible sheet metal auto body parts

Author

Nguyen, Wai ; Mills, James K.

Author_Institution

Dept. of Mech. Eng., Toronto Univ., Ont., Canada

Volume

3

fYear

1996

fDate

22-28 Apr 1996

Firstpage

2340

Abstract

This paper addresses methods of control of a multi-robot system designed for the assembly of flexible sheet metal parts. The work begins with the dynamic modeling of two robots and their sheet metal payloads. Recognizing that the flexible sheet metal states are practically unobservable, since none of the sheet metal parts will be instrumented, a practical control algorithm is proposed based on the rigid body dynamics of the robot and payloads. Stability analysis is carried out using the theory of singularly perturbed dynamic systems to determine the effect of the “rigid” feedback on the flexible system. Experimental results are given to illustrate the dynamic response of the two robot system, while carrying out the assembly operation with the two robots under force control. The experiments are performed with two 6-DOF commercial industrial robots

Keywords

assembling; feedback; industrial manipulators; manipulator dynamics; materials handling; singularly perturbed systems; stability; dynamic modeling; dynamic response; feedback; flexible fixtureless assembly; flexible sheet metal handling; force control; industrial robots; multi-robot control; singularly perturbed dynamic systems; stability; Assembly systems; Control systems; Feedback; Force control; Instruments; Multirobot systems; Payloads; Robotic assembly; Service robots; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.506513

Filename

506513