Assembly process monitoring algorithm using force data and deformation data

Dong Hyeong Lee, Min Woo Na, Jae Bok Song, Chan Hun Park, Dong Il Park

Research output: Contribution to journalArticlepeer-review

28 Citations (Scopus)


In robotic assembly with smaller repeatability than the assembly tolerance, failure should not occur. However, in the industrial field, assemblies may fail because of positional errors in the assembled parts and other factors. Owing to the characteristics of position control, the robot tries to move to the desired position irrespective of the failure of assembly. This situation causes excessive contact force, which can lead to the damage of parts and robots. To prevent this, an assembly process monitoring algorithm is proposed in this study. The role of this algorithm is to monitor, from the sensor information measured in the assembly process, whether the assembly state is formed; thus, the robot may recognize whether the assembly is normally performed or not. In this study, the monitoring performance was verified by applying the algorithm to the process of assembling the parts of a tablet PC.

Original languageEnglish
Pages (from-to)149-156
Number of pages8
JournalRobotics and Computer-Integrated Manufacturing
Publication statusPublished - 2019 Apr

Bibliographical note

Funding Information:
This study was supported by the MOTIE under the Industrial Foundation Technology Development Program, which is supervised by the KEIT (No. 10060110 )

Publisher Copyright:
© 2018


  • Assembly state estimation
  • Deformation sensor
  • Force/torque sensor
  • Robotic assembly

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications
  • Industrial and Manufacturing Engineering


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