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http://dx.doi.org/10.21289/KSIC.2022.25.5.909

Position/force Control using 6-axis Compliance Device for Chemical Coupler Assembly  

Park, Shi-Baek (Samsung Electronics, GCS Team, Automation Technology Part)
Kim, Han-Sung (Dept. of Mechanical Engineering, Kyungnam University)
Publication Information
Journal of the Korean Society of Industry Convergence / v.25, no.5, 2022 , pp. 909-915 More about this Journal
Abstract
In this paper, a robot automation technology for chemical tank lorry unloading is presented. Handling chemical coupler between tank lorry and ACQC system may be hazardous or toxic to human operators, therefore robot automation is essential. Due to tight tolerance between couplers, even small pose error may result in very large internal force. In order to resolve the problem, compliance between male and female couplers should be introduced with 6-axis compliance device with F/T sensing. The proposed robot automation system consists of a collaborative robot, 6-ax is compliance device with F/T sensing, linear gripper, and robot vision. The position/force control algorithm and experimental results for assembling chemical couplers are presented.
Keywords
Chemical Tank Lorry Unloading; Chemical Coupler Assembly; Position/force Control; Collaborative Robot; 6-axis Compliance Device; Strain Gauge;
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Times Cited By KSCI : 1  (Citation Analysis)
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