Automated robot-based screw insertion system

This paper introduces an automated robot-based system for the insertion of self-tapping screws into unthreaded holes. The system consists of three main components: a manipulator-guided screwdriver, a camera and a system which controls and monitors the overall process. The focus of this paper is on the key stages of the insertion procedure: (a) detection of the insertion location by means of a camera, (b) positioning of the electrical screwdriver employing a manipulator, and (c) appropriately monitored insertion of a screw. Experiments were carried out in order to identify the requirements needed for a fully automated insertion system. Results are presented