Identify the Position of the Shaft and Hole Using a Force-Torque Sensor in Three-Point Contact Assembly Operations

Nowadays, the methods of robotic assembly of cylindrical joints are popular. However, before assembling, pegs and sleeves need to be adjusted. In practice, if there is a significant misalignment of the position of the shaft and sleeve, seizure or deformation may occur during the assembly process. This article proposes a method for determining the shaft position and sleeve using a force-torque sensor. Creating a three-point contact position is estimated using the force-torque sensor. Experimental setup based on an ABB IRB-140 industrial robot with an IRC5 controller, coupling parts with a gap 0.04 mm the effectiveness of the proposed method is confirmed. Building the structure of the system of an adaptive algorithm for controlling a robot with a force-moment sensor, which recognizes contact situations, will allow reliable assembly of precision joints and prevent jamming of parts during the process of pairing. In this work, equations are obtained that connect the parameters of the position and orientation of the connected part with the information issued by the force and moment sensor of the assembly robot with three-point contact.