- Garg, Devendra P. and Ellingboe, Bruce S., FEEDBACK CONTROL IN CHAMFERLESS ASSEMBLY OF COMPLIANTLY SUPPORTED RIGID PARTS.,
Proceedings of the American Control Conference
pp. 741 - 742 .
(last updated on 2007/04/10)
Feedback control strategies for insertion of mating parts in automated assembly operations are presented. The question of maximum allowable misalignment before the initiation of assembly operation is studied, and the effect of proportional (P), proportional plus integral (PI), and proportional plus integral plus derivative (PID) control actions on the assembly process is examined. In order to avoid two-point contact during the entire insertion, it was found that proportional feedback control was adequate. With proportional control, the peg remains in contact with the hole wall throughput the insertion. A small integral feedback gain could be added to eliminate contact during the insertion. It was found that the ratio of the integral feedback gain should be less than the clearance ratio to avoid two-point contact.
CONTROL SYSTEMS - Mathematical Models;