Force/Torque Sensor Integrated Robotic Manipulation for Assembly Operations

摘要

This paper is focused on force/torque sensing aspects applied to industrial robotic assembly operations. For efficient use of robot in assembly operations, the force and torque required to join the parts must be known to the robot. This can be achieved by integration of force and torque sensors with the robot manipulator. In this paper integration a six-axes force and torque sensor with SCARA robot to perform assembly operation, the industrial applications of the integration in mechanical assembly operations is described. Index Terms– Sensors, Robotic, Manipulator, Assembly