Title :
A flexible assembly cell integrating a parallel manipulator for accurate automatic assembly tasks
Author :
Amirat, Yacine ; Pontnau, Jean ; Babaci, Said ; Francois, Clementine
Author_Institution :
Lab. d´´Inf. Ind. et d´´Autom, IUT de Creteil, France
Abstract :
This paper presents a flexible assembly cell intended to perform precise assembly tasks. This cell includes a C5 joints parallel robot which acts as the force controlled active wrist of a cartesian robot. The strategy of assembly consists of three steps: approach, correction of parts misalignments, and insertion. A hybrid position/force algorithm is implemented in the control system which is equipped with position, force and vision sensors. Experimental results and their discussion are presented
Keywords :
assembling; flexible manufacturing systems; force control; industrial manipulators; manipulators; motion control; position control; C5 joints parallel robot; accurate automatic assembly tasks; cartesian robot; flexible assembly cell; force controlled active wrist; force sensors; hybrid position/force algorithm; parallel manipulator; position sensors; vision sensors; Assembly systems; Damping; Force control; Industrial control; Manipulators; Parallel robots; Robot vision systems; Robotic assembly; Service robots; Solid modeling;
Conference_Titel :
Industrial Automation and Control: Emerging Technologies, 1995., International IEEE/IAS Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-2645-8
DOI :
10.1109/IACET.1995.527580
