A Fuzzy Approach To The Interpretation Of Robot Assembly Forces

Abstract

Uncertainties encountered in part positioning and variations in part dimensions have motivated the use of sensor feedback control in robot assembly. This paper presents a fuzzy logic based system which interprets the forces and torques generated by a force/torque sensor mounted on a robotic wrist, and controls the execution of robotic assembly tasks. Techniques from the field of fuzzy decision making are applied to the force/torque feedback to monitor the mating of parts by a robot. An example is presented that addresses the problems of inserting a printed circuit board into a card cage. The fuzzy rules that are used to interpret the force/torque readings are discussed and the experimental results are presented.