NDLI: Robotic soft servo for industrial high precision assembly

Content Provider	IEEE Xplore Digital Library
Author	Chen, H. Wang, J. Zhang, G. Fuhlbrigge, T. Kock, S.
Copyright Year	2008
Description	Author affiliation: ABB Corporate Research Center (Chen, H.; Wang, J.; Zhang, G.; Fuhlbrigge, T.; Kock, S.)
Abstract	Industrial robots can be made compliant to the environment when the control loop gains are reduced, creating a so-called ¿soft servo¿ capability. This allows industrial robots to be used for assemblies with limited contact requirements. In this paper, we propose an assembly method using soft servo to perform certain assembly tasks where part location errors typically require the use of force control or Remote Center of Compliance (RCC) methods. A typical industrial application, valve body assembly, was used to validate the developed method. This assembly was chosen because it is simple, yet requires compliance in all directions. Lab experiments were performed and the assembly operations were consistently successful enough to show that the developed soft servo strategy can perform certain assembly tasks with small part location errors. Therefore, the soft servo strategy may open a new door for low cost industrial assembly.
Starting Page	24
Ending Page	29
File Size	731845
Page Count	6
File Format	PDF
ISBN	9781424416752
DOI	10.1109/RAMECH.2008.4690877
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-21
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robotic assembly Service robots Servomechanisms Valves Force control Error correction Industrial control Costs Fixtures Automotive engineering assembly, force control Industrial Robot, Soft servo, High precision
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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