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Robotic Assembly by Slight Random Movements

Published online by Cambridge University Press:  09 March 2009

F. Badano ,
M. Betemps ,
T. Redarce  and
A. Jutard
F. Badano
Affiliation:
Laboratoire d' Automatique Industrielle, Institut National des Sciences Appliquées, 20 Av. Albert Einstein, 69621 Villeurbanne Cedex (France)
M. Betemps
Affiliation:
Laboratoire d' Automatique Industrielle, Institut National des Sciences Appliquées, 20 Av. Albert Einstein, 69621 Villeurbanne Cedex (France)
T. Redarce
Affiliation:
Laboratoire d' Automatique Industrielle, Institut National des Sciences Appliquées, 20 Av. Albert Einstein, 69621 Villeurbanne Cedex (France)
A. Jutard
Affiliation:
Laboratoire d' Automatique Industrielle, Institut National des Sciences Appliquées, 20 Av. Albert Einstein, 69621 Villeurbanne Cedex (France)
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Summary

In this paper we develop a compilant system that permits robotic assembly of chamferless pieces. The idea is to absorb the positioning error between parts to be inserted by giving one of them a planar random movement. An actuator consisting of two axes (X and y) operated by an electromagnetic System is fitted to the work table; when its inputs are pseudo-random binary signais (P.R.B.S.) random motion is obtained. The trajectories of the actuator are analysed depending upon the P.R.B.S. parameters and a peg-in-a-hole assembly task is carried out. Experimental results show that large positioning errors can be compensated for chamferless insertions.

Keywords

Robotic assemblyRandom movementChamferless insertionPositioning error
Type
Article
Information
Robotica , Volume 9 , Issue 1 , January 1991 , pp. 23 - 29
Copyright
Copyright © Cambridge University Press 1991

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