CONTROLLERS FOR AUTOMATED ASSEMBLY OPERATIONS.

This paper deals with the application of force feedback in automated insertion type of assembly processes. First, the background of developments reported in literature directed towards the solution of this problem are presented. Next, a general two-dimensional analytical model describing the process is given. Details of computer simulation and an experimental setup which utilizes a GE P-50 robot are outlined. The results indicate that the derivative control is not particularly useful in insertion assembly. The forces generated during an insertion are significantly reduced with the application of proportional plus integral feedback control. The best results are obtained with small integral feedback gains used in conjunction with proportional feedback gains.

Duke Scholars

Author Devendra P. Garg Thomas Lord Department of Mechanical Engineering and Materia ...