Papers Published

  1. Garg, Devendra P. and Ellingboe, Bruce S., P AND PI CONTROL IN ROBOTIC INSERTION ASSEMBLY PROCESSES., Modeling and Simulation, Proceedings of the Annual Pittsburgh Conference, vol. 17 no. pt 5 (1986), pp. 1721 - 1725 .
    (last updated on 2007/04/10)

    This paper describes the application of force feedback in automated insertion type assembly processes. Mathematical models are developed for a two- and three-dimensional peg in hole insertion scheme commonly encountered in robotic assemblies. The compliance of a device supporting the peg is also included in the mathematical model. A computer simulation duplicates the operation of the insertion assembly system using controller feedback gains and compliance parameters. Experiments are carried out on a GE-P50 robot for the assembly operation using various proportional, and proportional plus integral, feedback gain combinations. The results indicate that the insertion forces are significantly reduced with the application of proportional plus integral feedback control action. However, large integral gains cause oscillations in the assembly process. Best results are obtained using a combination of proportional gains and integral control gains which are much smaller than the proportional feedback controller gains.