Hybrid compliance control for intelligent assembly in a robot work cell

Abstract

This paper introduces a novel approach of using Hybrid Compliance Control (HCC) in robotic assembly. The approach uses active implicit compliance control in conjunction with a Passive Compliance Device (PCD) for assembly tasks. The active control provides force feedback to enable the robot to follow an assembly path during task execution, and the PCD supplements corrections for instantaneous time-dependent assembly path uncertainties that arise from inherent errors in the system and manufacturing irregularities. This HCC strategy resulted in lesser force impact on the end effector during task executions, a higher number of successful assemblies, and did not significantly affect implementation costs. Experiments conducted to validate the HCC and the redundancy built in, displayed positive indicators, implying that the concept is transferable to automated assembly lines.