Abstract
This paper presents a control of an assembling robot using vision and force sensors. In assembling, the task is planned by the task planner and its corresponding trajectory of the robot is planned as the reference trajectory. The robot should also adapt to the environmental variation. To coordinate the planner and robot, the vitrual internal model is used to modify the planned reference trajectory according to the environmental variation. In this paper, the use of vision and force sensors is proposed in the virtual internal model for the error correction in the assembling. A simple assembling task is experimentally achieved to verify the validity of the proposed method. The assembling task considered is screwing a bolt by the open end wrench fixed to the wrist of the robot, where the bolt is not accurately placed at the fixed predetermined place. The experiment shows that the proposed control system works satisfactorily.
