Feasibility Study on Online Guiding of Industrial Robot by Experimentally Created Force/Torque Map for Peg-in-Hole Assembling

Mustafa Waad Abdullah; Hubert Roth; Michael Weyrich; Jürgen Wahrburg; Bashra Kadhim Oleiwi

doi:10.4028/www.scientific.net/AMM.799-800.1074

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 799-800Feasibility Study on Online Guiding of Industrial...

Feasibility Study on Online Guiding of Industrial Robot by Experimentally Created Force/Torque Map for Peg-in-Hole Assembling

Abstract:

The experiment carried in this paper aims to study the feasibility of controlling an industrial robot to carry Peg-in-Hole assembling task using what called a Force/Torque Map. This type of control is based on real-time F/T sensor data during contact between the peg and the hole. The F/T Map presents the data acquired during previous attempts of the assembly task.

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Periodical:

Applied Mechanics and Materials (Volumes 799-800)

Pages:

1074-1077

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.799-800.1074

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Online since:

October 2015

Authors:

Mustafa Waad Abdullah*, Hubert Roth, Michael Weyrich, Jürgen Wahrburg, Bashra Kadhim Oleiwi

Keywords:

F/T Map, Industrial Robot, Online Sensor Guiding

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* - Corresponding Author

References

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