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This paper presents a methodology for precise robot positioning and path tracking, performed by industrial robots over large surfaces of arbitrary size, shape and orientation. The methodology is based on a vision-based, calibration-free robot control method known as camera-space manipulation. The path, defined and stored in a CAD file, is later adapted to the curved, work-surface by using a mapping...
In our previous work, we developed an automated wheel loading system for the trim-and-final assembly in automotive manufacturing. Since the actual system is difficult to set up to evaluate the performance of a wheel loading system, a simulation package should be available to estimate the performance of the system with a chosen robot. This paper presents a method to analyze the performance of a wheel...
This paper provides a description of a uniquely mounted industrial robot. The described configuration includes an IRB6620 industrial robot with a tool changer and multiple tools that are installed on a highly customized truck chassis. Industrial robots are typically anchored to a shop floor which would normally limit the operational range of industrial robotics and require that all parts and materials...
This paper presents the objective metric study on design of experiments (DOE)-based robotic force control parameter optimization in transmission torque converter assembly. Based on a real-world assembly production process, investigation and analysis are performed on the optimization metrics of assembly cycle time mean (MEAN), its mean plus three times of standard deviation (MEAN+3*STDEV), and first...
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