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Investigation of Dynamic and Control of Robots’ Cooperation in Assembling Process

[+] Author Affiliations
Ashkan Nourizadeh Dehkordi, Mehdi Keshmiri

Isfahan University of Technology (IUT), Isfahan, Iran

Mohammad Keshmiri

Concordia University, Montreal, QC, Canada

Paper No. IMECE2014-39549, pp. V04BT04A022; 6 pages
  • ASME 2014 International Mechanical Engineering Congress and Exposition
  • Volume 4B: Dynamics, Vibration, and Control
  • Montreal, Quebec, Canada, November 14–20, 2014
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4648-3
  • Copyright © 2014 by ASME


Assembling and fitting parts together can be considered as one of the most practical but also challenging process in robotics. Various applications are conceivable such as spatial ones where accessibility is reduced or in construction fields where huge forces have to be dealt with in a meticulous manner. In this paper, the cooperation of two robots during the complete assembling process of two structural parts from the approaching phase to the fitting stage is investigated. In the approaching phase for taking the parts closer, the two large construction parts may collide due to the inertia of motion, causing considerable impact forces even with the slightest relative velocity. This issue presents important control challenges as the effects of this local impact may be transferred throughout the system’s frame, affecting all other elements and inducing instability. Finally after connection of these two parts is established, the whole frame is transported to any desired location by cooperative operation of the two robots. Each step requires a particular controller to deal with different system’s dynamics that occur during the whole process.

Copyright © 2014 by ASME
Topics: Robots



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