TY - GEN
T1 - Preliminary experiments on robotic assembly using a hybrid-type variable stiffness actuator
AU - Kim, Byeong Sang
AU - Kim, Young Loul
AU - Song, Jae Bok
PY - 2011
Y1 - 2011
N2 - Precision robotic assembly requires compliant motion to avoid jamming or wedging. To achieve compliant motion, impedance control and a passive compliance device, such as a RCC (remote center compliance) device, have been used in robotic assembly. However, impedance control cannot provide low impedance for the high-frequency range, and load capacity and allowable misalignment of the RCC device are limited. To cope with these problems, we propose to use a variable stiffness actuator in robotic assembly. The 3-DOF manipulator including two HVSAs was developed, and the experiments on robotic assembly were carried out. Two HVSAs provide low impedance to compensate for the lateral and angular errors between the assembly parts. To show the advantages of the HVSA-actuated manipulator over the force-controlled manipulator, we conducted comparison experiments on robotic assembly with the 6-DOF robot manipulator which was controlled by an impedance controller. A series of experiments show that the HVSA-actuated manipulator is more beneficial to execute the tasks requiring both fast motion for high efficiency and low impedance for operational safety.
AB - Precision robotic assembly requires compliant motion to avoid jamming or wedging. To achieve compliant motion, impedance control and a passive compliance device, such as a RCC (remote center compliance) device, have been used in robotic assembly. However, impedance control cannot provide low impedance for the high-frequency range, and load capacity and allowable misalignment of the RCC device are limited. To cope with these problems, we propose to use a variable stiffness actuator in robotic assembly. The 3-DOF manipulator including two HVSAs was developed, and the experiments on robotic assembly were carried out. Two HVSAs provide low impedance to compensate for the lateral and angular errors between the assembly parts. To show the advantages of the HVSA-actuated manipulator over the force-controlled manipulator, we conducted comparison experiments on robotic assembly with the 6-DOF robot manipulator which was controlled by an impedance controller. A series of experiments show that the HVSA-actuated manipulator is more beneficial to execute the tasks requiring both fast motion for high efficiency and low impedance for operational safety.
UR - http://www.scopus.com/inward/record.url?scp=80053931824&partnerID=8YFLogxK
U2 - 10.1109/AIM.2011.6027040
DO - 10.1109/AIM.2011.6027040
M3 - Conference contribution
AN - SCOPUS:80053931824
SN - 9781457708381
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1076
EP - 1080
BT - 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011
T2 - 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011
Y2 - 3 July 2011 through 7 July 2011
ER -