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Title:
AN INDUSTRIAL ROBOT WITH CONTROLLED FLEXIBILITY AND SIMULATED FORCE FOR AUTOMATED ASSEMBLY
Document Type and Number:
WIPO Patent Application WO2005051610
Kind Code:
A3
Abstract:
An industrial robot that has uses a simulated force vector to allow a work piece held by the robot and effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two pieces mate.

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Inventors:
ZHANG HUI (US)
WANG JIANJUN (US)
BROGARDH TORGNY (SE)
GAN ZHONGXUE (US)
Application Number:
PCT/US2004/039543
Publication Date:
December 29, 2005
Filing Date:
November 23, 2004
Export Citation:
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Assignee:
ABB RESEARCH LTD (CH)
ABB AUTOMATION TECHNOLOGIES AB (SE)
ZHANG HUI (US)
WANG JIANJUN (US)
BROGARDH TORGNY (SE)
GAN ZHONGXUE (US)
International Classes:
B25J9/16; (IPC1-7): B25J9/16
Foreign References:
GB2102590A1983-02-02
Other References:
SIDDHARTH R CHHATPAR: "Experiments in Force-Guided Robotic Assembly", 31 January 1999, CASE WESTERN RESERVE UNIVERSITY, DEPARTMETN OF ELECTRICAL ENGINEERING AND APPLIED PHYSICS, CLEVELANT, OHIO, USA, XP002345323
NIRUT NAKSUK: "The implementation of a Natural Admittance Controller on an industrial Robot", 31 January 2000, CASE WESTERN RESERVE UNIVERSITY, DEPARTMENT OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE, CLEVELANT, OHIO, USA, XP002345462
CHENG ZHANG: "Towards a practical robotic system for industrial mechanical assembly applications", 31 January 2001, CASE WESTERN RESERVE UNIVERSITY, DEPARTMENT OF ELECTRICAL ENGINEERING AND APPLIED PHYSICS, CLEVELANT, OHIO, USA, XP002345463
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