An Approach for Direct Offline Programming of High Precision Assembly Tasks on 3D Scans Using Tactile Control and Automatic Program Adaption

This contribution defines a methodology for the direct offline programming of robotic high-precision assembly tasks without the need for real-world teach-in, even for less-accurate lightweight robots. Using 3D scanning technologies, the relevant geometrical relations of the offline programming environment are adjusted to the real application. To bridge remaining accuracy gaps, tactile insertion algorithms are provided. As repetitive inaccuracy compensation through tactile search is considered wasteful, a method to automatically adapt the robot program to continuously increase precision over time, taking into account multiple influence sets is derived. The presented methodology is validated on a real-world use case from electronics production.

The AAPF fault-tolerant method for small and complex product assembly

Fault-tolerant control should be considered during assembly to ensure stability and efficiency of the assembly process. The paper proposes a fault-tolerant method to improve stability and efficiency during the assembly of small and complex products. The fault-tolerant method model was initially constructed, then an adaptive artificial potential field control algorithm (AAPF) was introduced to control related assembly tasks based on changes in assembly information. Next, active and passive fault tolerance methods were integrated using a least squares support vector machine (LS-SVM). Finally, the assembly of a 2P circuit breaker controller assembly with leakage protection was used as an example to verify the proposed assembly method. The experimental results demonstrated that the AAPF fault-tolerant method showed promising fault-tolerance capabilities for the assembly of small and complex products. Not only could it coordinate the number of tasks for each assembly robot, but it also effectively reduced the number of tasks that accumulated due to faults. The method proposed in this paper could effectively guarantee assembly stability and efficiency during small and complex product assembly.