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박동일(Dongil Park),최태용(Taeyong Choi),김휘수(Hui-su Kim),송성혁(Sung-hyuk Song),박찬훈(Chanhun Park) 한국생산제조학회 2020 한국생산제조학회지 Vol.29 No.6
The demand for industrial robots has spread across several markets, ranging from the automobile market to the electric and electronic markets, including various IT products. Consequently, the demand for assembly process automation using robots is gradually increasing. Control technology for assembly processes using robots can be classified into two categories. The first method involves force control-based robot control, wherein the robot is actively directed for controlling assembly reaction forces. In the second method, assembly implementation is performed by attaching a passive compliance mechanism to the robot. However, in both methods, implementation of the assembly process through a commercial industrial robot can be difficult. To address this issue, we developed a gripper that can implement the assembly process through a commercial industrial robots which are operated in position-control based robot control. Furthermore, the obtained results are summarized in this paper.