On force control for assembly and deburring of castings
(2013) In Production Engineering 7(4). p.351-360- Abstract
- Traditional industrial robots have problems interacting with an uncalibrated, ill-defined environment where part geometry and position may vary. Active force control technology has therefore been suggested as a solution to add the extra sensory dimension needed to handle manufacturing tasks like assembly and deburring. The technology is proposed to give increased flexibility compared to other solutions and force control systems are available commercially. Active force control installations, however, are still uncommon in industry. This paper presents two cases of force control applications; assembly of a compliant carbon fiber structure and deburring/cleaning of iron castings. Based on these two cases, some issues are raised concerning how... (More)
- Traditional industrial robots have problems interacting with an uncalibrated, ill-defined environment where part geometry and position may vary. Active force control technology has therefore been suggested as a solution to add the extra sensory dimension needed to handle manufacturing tasks like assembly and deburring. The technology is proposed to give increased flexibility compared to other solutions and force control systems are available commercially. Active force control installations, however, are still uncommon in industry. This paper presents two cases of force control applications; assembly of a compliant carbon fiber structure and deburring/cleaning of iron castings. Based on these two cases, some issues are raised concerning how the technology can be further developed to fit the industrial setting, and the proposed benefits are re-examined and refined. The two cases show that programming, parameter setting and ease of use are critical components in lowering the industrial threshold, together with increased possibilities for application-specific compensation and filtering. Force control does, however, show great potential in extending the boundaries for variance in product and equipment like grippers and fixtures as well as decreasing the need for calibration of for example virtual models used for programming compared to traditional automated solutions. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/3813320
- author
- Jonsson, Marie ; Stolt, Andreas LU ; Robertsson, Anders LU ; von Gegerfelt, Sebastian and Nilsson, Klas LU
- organization
- publishing date
- 2013
- type
- Contribution to journal
- publication status
- published
- subject
- in
- Production Engineering
- volume
- 7
- issue
- 4
- pages
- 351 - 360
- publisher
- Springer
- external identifiers
-
- scopus:84878935994
- ISSN
- 0944-6524
- language
- English
- LU publication?
- yes
- id
- ad4018d8-554c-4445-be63-b5a8155b4391 (old id 3813320)
- date added to LUP
- 2016-04-04 08:54:39
- date last changed
- 2022-05-16 22:12:34
@article{ad4018d8-554c-4445-be63-b5a8155b4391, abstract = {{Traditional industrial robots have problems interacting with an uncalibrated, ill-defined environment where part geometry and position may vary. Active force control technology has therefore been suggested as a solution to add the extra sensory dimension needed to handle manufacturing tasks like assembly and deburring. The technology is proposed to give increased flexibility compared to other solutions and force control systems are available commercially. Active force control installations, however, are still uncommon in industry. This paper presents two cases of force control applications; assembly of a compliant carbon fiber structure and deburring/cleaning of iron castings. Based on these two cases, some issues are raised concerning how the technology can be further developed to fit the industrial setting, and the proposed benefits are re-examined and refined. The two cases show that programming, parameter setting and ease of use are critical components in lowering the industrial threshold, together with increased possibilities for application-specific compensation and filtering. Force control does, however, show great potential in extending the boundaries for variance in product and equipment like grippers and fixtures as well as decreasing the need for calibration of for example virtual models used for programming compared to traditional automated solutions.}}, author = {{Jonsson, Marie and Stolt, Andreas and Robertsson, Anders and von Gegerfelt, Sebastian and Nilsson, Klas}}, issn = {{0944-6524}}, language = {{eng}}, number = {{4}}, pages = {{351--360}}, publisher = {{Springer}}, series = {{Production Engineering}}, title = {{On force control for assembly and deburring of castings}}, volume = {{7}}, year = {{2013}}, }