Department of Mechanical engineering

Permanent URI for this collectionhttp://localhost:4000/handle/123456789/1921

Browse

Filters

2022 - 20232

Settings

Author: search.filters.author.Marathe, AmolSubject: search.filters.subject.Robotic assembly

Search Results

Now showing 1 - 2 of 2
  • No Thumbnail Available
    Item
    Robot vision-based control strategy to suppress residual vibration of a flexible beam for assembly
    (Emerald, 2023-04) Rout, Bijay Kumar; Marathe, Amol
    Industrial robots are extensively used in the robotic assembly of rigid objects, whereas the assembly of flexible objects using the same robot becomes cumbersome and challenging due to transient disturbance. The transient disturbance causes vibration in the flexible object during robotic manipulation and assembly. This is an important problem as the quick suppression of undesired vibrations reduces the cycle time and increases the efficiency of the assembly process. Thus, this study aims to propose a contactless robot vision-based real-time active vibration suppression approach to handle such a scenario.
  • No Thumbnail Available
    Item
    Vision sensor based residual vibration suppression strategy of non-deformable object for robot-assisted assembly operation with gripper flexibility
    (Emerald, 2022-06) Rout, Bijay Kumar; Marathe, Amol
    Industrial robots are extensively deployed to perform repetitive and simple tasks at high speed to reduce production time and improve productivity. In most cases, a compliant gripper is used for assembly tasks such as peg-in-hole assembly. A compliant mechanism in the gripper introduces flexibility that may cause oscillation in the grasped object. Such a flexible gripper–object system can be considered as an under-actuated object held by the gripper and the oscillations can be attributed to transient disturbance of the robot itself. The commercially available robots do not have a control mechanism to reduce such induced vibration. Thus, this paper aims to propose a contactless vision-based approach for vibration suppression which uses a predictive vibrational amplitude error-based second-stage controller.