ARTICLE INFO ABSTRACTArticle history:General industrial robots are difficult to use for precision assembly because they are operated based on position control. Their position accuracy is also usually higher than the assembly clearance (several tens of mm). In previous researches, force control was suggested as a robotic assembly solution. However, this method is difficult to apply in reality because of speed and cost problems. The RCC provides high speed, but applications are limited because the compliance is fixed, and it cannot detect an assembly condition during a task. A variable passive compliance device (VPCD) was developed herein. The VPCD can detect the assembly condition during tasks. This device can provide proper compliance for successful assembly tasks. The pneumatic system and the Stewart platform with an LVDT sensor were applied for measuring the displacement and variable compliance, respectively. The concept design and analysis were conducted to prove the effectiveness of the developed VPCD.
This paper proposes a software framework for system integration in developing a dual-arm robot. In our project, the target dual-arm robot has flexibility with several functions compared to conventional industrial robots and a software framework should be designed to integrate each component effectively. The proposed software framework is composed of several layers, i.e., a control layer, a robot language layer and GUI layer.
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