Another of the basic applications of force control systems in robots are assembly tasks. In the first uses of assembly applications, pliable grippers with susceptibility were used to ensure high tolerance of the movement accuracy of a robot's arm. Such systems were gradually replaced or supplemented with systems with force control [16,17]. This approach allows the avoidance of blocking components during assembly, checking the clamping pressure of the assembled components to avoid overloading, or detecting a mismatch of components due to incorrect fitting- too tight or loose. The robotization of the assembly of flexible components, as described in [18,19] is a particular challenge. In such cases, force control is particularly important, because too high interaction forces between the assembled components lead to large distortions and prevent the correct process from running.
Monitoring of the Machining Process
Monitoring the machining process is important in the industrial production of parts with a high unit cost. Any irregularity in the production of the part causing its non-compliance with the documentation is a cause of significant financial losses. Process monitoring aims to prevent irregularities during its implementation and to correct or discontinue the machining process. Process monitoring involves observing (measuring) sizes in the process in a direct or indirect way. In the case of machining, the aim of which is to achieve the appropriate geometric dimensions or surface roughness, direct measurement of these quantities is not possible during the process. Therefore, signals related to phenomena accompanying the treatment process are monitored. These accompanying phenomena are, for example, vibrations, noise, cutting forces or heat generation (Figure 3). These phenomena can be quantified using signals such as accelerations, acoustic pressure, interaction forces or temperature. Irregularities in the implementation of the process cause a discrepancy between the levels of measured values associated with the accompanying phenomena and reference levels for those quantities determined for the correctly carried out process.
Figure 3: Machining process monitoring and control.
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Corresponding Author: Dr. Piotr Gierlak, Faculty of Mechanical Engineering and Aeronautics, Rzeszow University of Technology, Poland.
Copyright: © 2021 All copyrights are reserved by Piotr Gierlak, published by Coalesce Research Group. This work is licensed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution and reproduction in any medium, provided the original author and source are credited.