Force‐guided robot in automated assembly of mobile phone
Abstract
This paper describes how force‐guided robot can be implemented in the automated assembly of mobile phone. A case study was carried out to investigate the assembly operations and strategies involved. Force‐guided robot was developed and implemented in the real environment. Proportional‐based external force control with hybrid framework was developed and implemented to perform the compliant motion. In order to perform assembly operations, three basic force‐guided robotic skills are identified. These are stopping, alignment and sliding skills, where the motions are guided by the force feedback. The force‐guided robotic skills are combined and reprogrammed with fine motion planning to perform notch‐locked assembly. The system is optimized for high assembly speed while considering the constraints and limitations involved.
Keywords
Citation
Suh Chin, K., Maran Ratnam, M. and Mandava, R. (2003), "Force‐guided robot in automated assembly of mobile phone", Assembly Automation, Vol. 23 No. 1, pp. 75-86. https://doi.org/10.1108/01445150310460123
Publisher
:MCB UP Ltd
Copyright © 2003, MCB UP Limited