The implementation of active/passive coordinated manipulation in precision assembly based on force-feedback

The authors present a new idea on assembly principle and a newly developed robotic assembly system based on force feedback, which employs a specially designed active/passive micro manipulator (APMM) to combine both active accommodation and passive compliance function in one. The test setup consists of a PUMA 562 robot, an APMM and its driver unit, a 6 dimensional force/torque sensor and its controller, an IBM-PC computer and specially designed interfaces. During assembly, the PUMA robot takes care of coarse positioning and insert motion, while the APMM, which is mounted on the end of PUMA robot, executes fine position adjustment by optimal cooperation of active and passive mating based upon force feedback. The system can carry out assembly operation along arbitrary direction within several seconds even under the condition of unchamfered parts