Control of Robot Arm PA-10 using Camera Vision

Abstract

This paper proposes and investigates an automated robot-based system for the insertion of self-tapping screws into some holes. The system consists of three main components: a) a manipulator-guided screwdriver, b) a camera, and c) a system which controls and monitors the overall process. As approximately a quarter of assembly operations in the manufacture of commercial products are screw insertions, automation in this area is highly desirable. The focus of this paper is on the key stages of the insertion procedure: a) detection of the insertion location by means of a Camera, b) positioning of the electrical screwdriver employing a model-based controller, and c) appropriately monitored insertion of a screw. Research of the events occurring during the insertion of self-tapping screws has been largely neglected and automated systems presently available do not provide adequate and reliable insertions. The control scheme is applied to a seven degree-of-freedom industrial manipulator. The result show that the proposed controller i.e. Computed torque leads to improved tracking performance over a conventional PI) controller. The advantageous point of the controller is that in spite of the disturbances; the controller would be able to regulate the arm about the set-point solution.