Integrated robotic system for high precision assembly in a semi‐structured environment

摘要

Purpose This paper aims to develop a strategy for high‐precision assembly in a semi‐structured environment based on vision and force control. Design/methodology/approach The position and orientation of a part are identified using the vision system. The force/torque control algorithm is then applied to perform a tight‐tolerance assembly that is a high‐precision assembly. Findings The tight tolerance assembly in a semi‐structured environment is successfully implemented using vision guidance and force/torque‐control strategy. Practical implications The developed methodology can be applied to tight tolerance assembly, such as forward‐clutch assembly, torque‐converter assembly, etc. Originality/value An industrial assembly methodology has been developed and implemented for high‐precision assembly in a semi‐structured environment. This innovation has many potential applications in automotive manufacturing.