Hybrid compliance control for intelligent assembly in a robot work cell

摘要

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 feedbakc to enable the robot to follow an assembly path during task execution, and the PCD supplements corrections for instanta- neous time-dependent assembly path uncertainties that arise from inherent errors in the system and manufacturing irregularities.