METHOD FOR AUTOMATED ROTATIONAL JOINING AND/OR ROTATIONAL DETACHMENT OF COMPONENTS, AND ASSOCIATED INDUSTRIAL ROBOT AND AUTOMATED ASSEMBLY WORKSTATION

摘要

The invention relates to a method for automated rotational joining and/or rotational detachment of components (12), in particular machine elements, such as screws (12a) or nuts, to or from a workpiece (13) by means of a tool (10), in particular a tightening tool (10a), which is handled by a manipulator arm (3) of an industrial robot (5), said manipulator arm having a plurality of successive members (7.1-7.8) and joints (6.1-6.7), in which a reaction torque introduced into the manipulator arm (3) as a result of the applied torque is supported by force-controlled and/or torque-controlled actuation of the joints (6.1-6.7) of the manipulator arm (3) by means of a control device (4) of the industrial robot (5) in such a way that at least one joint (6.1-6.7), which on account of its design can be loaded with a lower maximum torque than at least one of the other joints (6.1-6.7), is parameterized with a lower stiffness than the stiffness parameterized in the at least one other joint (6.1-6.7). The invention also relates to an associated industrial robot (5) and to an automated assembly workstation (1) having such an industrial robot (5).