Model based assembly state estimation algorithm for the components of Tablet PC

Abstract

To overcome the disadvantages of position control and force control based assembly strategies for robotic assembly of small precision parts of mobile IT devices, the model based assembly strategy was applied. The assembly model was established based on the position data of the robot end-effector and the threshold value of the contact force data about the specific contact formations, and the contact formation and the assembly result were determined based on the established model. Also, the validity of the algorithm is verified by comparing the success of the actual assembly results with the assembly results judged by the assembly algorithm.