Position Correction Algorithm of Door Mounting Robot based on Door-Chassis Gap Sleasure

도어-차체 틈새 측정에 근거한 도어 장착 로보트의 위치 보정 알고리즘 개발

This work deals with finding a suitable position correction algorithm of industrial robot based on measuring gaps between door and chassis. The algorithm calculates correction quantities and then must allow visually acceptable door-chassis assembly take. The algorithm simulation is performed for a simple door-chassis model, and its effectiveness is addressed in terms of the predefined total unformity, line uniformity. In addition, the error sensitivity analysis of the rotation center of door due to the mismatch of robot grasping is performed using the algorithm.