Prototype of a robust screw-thread assembly system based on industrial manipulator using force-torque control methods

Threaded joints are widely used in the assembly process and consume many hours of the workers, despite availa-bility of electrified tools. Most existing assembly automation approaches are neither adaptive nor robust, and there-fore require the constant presence of an operator. Versatility in industrial robotic applications is mainly achieved by automatically changing instruments, programming robots efficiently, and using special mechanical fixtures for each specific operation. However, for a system to be versatile, it must be able to handle small changes in part ge-ometry and positioning without the use of special fixtures and robot reprogramming. A prototype of an automatic threaded assembly system based on an IRB1600 industrial manipulator has been developed. Solutions are based on the force sensor software libraries and vision camera which are provided with the manipulator. Moreover, a low-level interface is also used, which ensures scalability of the solution to other platforms and manipulators.