A formal part mating model for generating compliance control strategies of assembly operations

Myong Gi Kim*, Chi haur Wu

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Scopus citations

Abstract

A theoretical part-mating model is proposed for automatically generating compliance control strategies for generic assembly operations in a systematic way. Based on the unique geometric relationship between two mating parts, 28 constraint configurations are identified to distinguish 17 part-mating types. Each constraint configuration is represented by combinations of three translational and three rotational motion components. After three constraint configurations (before, during, and after a desired mating operation) are identified, the sequence of constraints for this part-mating operation can be determined. From the constraint configurations obtained, a set of compliance control strategies based on the motion constraints described by the constraint configurations can be generated. On the basis of this principle, an algorithm for automatically generating compliance control strategies is developed. To counterbalance incorrect force conditions during the execution of compliance control strategies, an algorithm for generating corrective actions is also developed. The generated active compliance control strategies can be used for robot compliance control.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE International Conference on Systems, Man and Cybernetics
PublisherPubl by IEEE
Pages611-616
Number of pages6
ISBN (Print)0879425970
StatePublished - Nov 1 1990
Event1990 IEEE International Conference on Systems, Man, and Cybernetics - Los Angeles, CA, USA
Duration: Nov 4 1990Nov 7 1990

Other

Other1990 IEEE International Conference on Systems, Man, and Cybernetics
CityLos Angeles, CA, USA
Period11/4/9011/7/90

ASJC Scopus subject areas

  • Hardware and Architecture
  • Control and Systems Engineering

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