公开(公告)号：US10120364B2

公开(公告)日：2018-11-06

申请号：US15062297

申请日：2016-03-07

Applicant: GM Global Technology Operations LLC

Inventor： Muhammad E. Abdallah ,  Gary L. Villeneuve ,  Sreten Zakula

IPC: B25J9/16 ,  G05B19/402

Abstract: A method for position correction of a machine relative to a work piece. The machine may be provided with an end effector. The work piece may be engaged with the end effector. A force or a moment resulting from engaging the work piece with the end effector may be measured. A pose error may be determined from the force and/or the moment, wherein the pose error may define a misalignment of the end effector. The end effector may be repositioned an amount equal to the pose error to correct the misalignment. One application may involve torqueing nuts with a nut runner, which may be accomplished through the use of an automated machine such as a robot.

公开(公告)号：US20180229366A1

公开(公告)日：2018-08-16

申请号：US15429241

申请日：2017-02-10

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Muhammad E. Abdallah ,  James W. Wells

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1643 ,  B25J9/0081 ,  B25J9/1633 ,  B25J9/1653 ,  B25J13/084 ,  B25J13/085 ,  B25J13/088 ,  B25J19/023 ,  G05B2219/39195 ,  G05B2219/39212

Abstract: A robotic system includes a jointed mechanism, position sensors, and a controller. The mechanism has an end-effector, and further includes actively-controlled joints and passive joints that are redundant with the actively-controlled joints. The position sensors are operable for measuring joint positions of the passive joints. The controller is in communication with the position sensors, and is programmed to execute a method to selectively control the actively-controlled joints in response to the measured joint positions using force control and/or a modeled impedance of the robotic mechanism. Possible control modes in impedance control include an Autonomous Mode in which an operator does not physically interact with the end-effector and a Cooperative Control Mode in which the operator physically interacts with the end-effector.

公开(公告)号：US20150059175A1

公开(公告)日：2015-03-05

申请号：US14461947

申请日：2014-08-18

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Muhammad E. Abdallah ,  Gary L. Villeneuve ,  Sreten Zakula ,  Srinivas Chilpuri ,  Michael S. Cochran

IPC: B23P19/06 ,  G01L25/00

CPC classification number: B23P19/066 ,  B25B13/48 ,  B25B21/00 ,  B25B23/14 ,  B25J13/085 ,  B25J15/0019 ,  G05B2219/39319 ,  G05B2219/45091 ,  Y10S901/09 ,  Y10S901/46 ,  Y10T29/49231 ,  Y10T29/49718 ,  Y10T29/49766 ,  Y10T29/49963

Abstract: A system and method for automating an assembly process of threading a tube-nut onto a threaded connector. The system includes a robot having a force sensor and a tube-nut runner tool coupled to the robot and having a tool head with a rotatable socket therein. The method includes engaging the socket to the tube-nut under force control using the force signal from the force sensor. The tool controller causes the socket to rotate the tube-nut where the tool controller controls the torque and/or angle displacement of the tool head to tighten the tube-nut on the threaded connector. The method also includes disengaging the tool head from the tube-nut after the tube-nut is properly tightened onto the threaded connector under force control to ensure that the end member is properly disengaged from the tube-nut.

Abstract translation: 一种用于使管螺母穿过螺纹连接器的组装过程自动化的系统和方法。 该系统包括具有力传感器的机器人和耦合到机器人的管螺母转子工具，并且具有其中具有可旋转插座的工具头。 该方法包括使用来自力传感器的力信号，在力控制下将插座接合到管螺母。 工具控制器使插座旋转管螺母，其中工具控制器控制工具头的扭矩和/或角度位移，以拧紧螺纹连接器上的管螺母。 该方法还包括在力矩控制下将管螺母适当地拧紧到螺纹连接器上之后，使工具头与管螺母脱开，以确保端部构件与管螺母正确脱开。