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Combination of robot control and assembly planning for a precision manipulator

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Abstract

This paper researches how to realize the automatic assembly operation on a two-finger precision manipulator. A multi-layer assembly support system is proposed. At the task-planning layer, based on the computer-aided design (CAD) model, the assembly sequence is first generated, and the information necessary for skill decomposition is also derived. Then, the assembly sequence is decomposed into robot skills at the skill-decomposition layer. These generated skills are managed and executed at the robot control layer. Experimental results show the feasibility and efficiency of the proposed system.

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Authors and Affiliations

  1. PTC Japan Company, Oji 5-2-5-617, Kita-Ku, Tokyo, 114-0002, Japan

    Zhiqi Liu

  2. Department of Precision Engineering, Tokyo Metropolitan University, Kita-Ku, Japan

    Tatsuya Nakamura

Authors
  1. Zhiqi Liu
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  2. Tatsuya Nakamura
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Correspondence to Zhiqi Liu.

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Liu, Z., Nakamura, T. Combination of robot control and assembly planning for a precision manipulator. Int J Adv Manuf Technol 31, 797–804 (2007). https://doi.org/10.1007/s00170-005-0232-5

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  • DOI: https://doi.org/10.1007/s00170-005-0232-5

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