Advanced Robot-Based Assembly Process Control

Automation of advanced assembly processes depends on physical contact between the joined workpieces。 For this contact formation to be controlled a robot should offer compliant motion control which is a con- trol method that modulates robot position and velocity

based on measured or estimated joint torques or contact forces [54。48]。 Subject of intense research  efforts  for a long time application packages for compliant force control in industrial robots which fulfill requirements regarding versatility, robustness, and ease of use in pro- gramming have become available during the last ten years [54。49]。  The  solutions are  commonly based on a 6-DOF force–torque sensor which is attached to the robot flange。

The fully torque-controlled DLR (Deutsches Zen- trum für Luft- und Raumfahrt) lightweight robot broke new grounds as its 7-DOF redundant kinematic struc- ture, torque sensing in every joint and a variety of compliance modes allowed difficult assembly tasks with complex contact formation during the joining pro- cess [54。15]。 DLR and KUKA managed to successfully go the strenuous road from the original LBR inven- tion, an idea made manifest in 1991, to a product, first applied in research and predevelopment of new indus- trial manufacturing concepts in a series of development steps: KUKA  LBR3 (2006), LBR4 (2008), and   LBR

iiwa (2012) [54。25]。 Figure 54。16 depicts the integrated mechatronic design of a joint with its unique joint- torque measurement。

To simplify the programming of complex joining processes several assembly subprocess modules were developed of which three are depicted in Table 54。2: the search for contact formation and the execution of two typical joining motions (peg-in-hole, toothed gear joining)。

Figure 54。17 depicts a scenario of a force-based centrifugal clutch assembly for a chain saw。 The  robot

inpidual and a whole fleet of robots, and even shift the operation of energy-consuming tasks in periods of the day where energy cost are low。 A second as- pect of sustainability deals with recycling of scarce resources in terms of materials and noble earths。 In most cases, this can be achieved by crushing the product and sorting the materials, but in some cases disassembly and automatic sorting of specific parts are needed。 There is, therefore,  a need for    robots

in recycling and de-manufacturing。 Based on future solutions to the above items, this is then a robot ap- plication challenge。

An overall issue is how both industry and academia can combine their efforts such that sound business can be combined with scientific research so that future de- velopments overcome the barriers that are formed by the above challenges。

许多使机器人可靠，人类友好并且适用于许多应用的技术已经从工业机器人的制造商出现。预计2014年的安装量约为1：500万台，当年约有17万台新安装，机器人工业的年营业额估计为320亿美元，工业机器人是迄今为止最大的商业应用机器人技术今天。文献综述

机器人运动规划和控制的基础最初是考虑到工业应用而开发的。这些应用程序值得特别注意，以了解机器人科学的起源，并欣赏仍然阻止更广泛地使用机器人在当今的敏捷制造环境中的许多未解决的问题。在本章中，我们介绍了典型的工业机器人应用的简要历史和描述，同时我们解决当前关键的最先进的技术发展。我们展示了具有不同机制的机器人如何适应不同的应用程序，以及如何通过最新技术进一步实现应用程序，这些技术通常来自制造自动化之外的技术领域。

我们将首先简要介绍工业机器人的历史介绍，并选择当代应用示例，同时指出关键的关键技术。然后，将概述工业机器人技术中使用的基本原理和编程方法的审查。我们还将介绍系统集成的主题，特别是从数据集成的角度。本章将结合一些展望，介绍一些目前禁止更广泛使用工业机器人的未解决问题。