Towards a Mobile Robotic Assembly System Using a Compliant Robot

In this paper the use of a mobile lightweight robot is evaluated to perform an assembly task while simultaneously moving. The motion of the mobile platform results into a variable end effector position in space. The paper assesses the existing method of placing a screw in an assembly where the location of placement is variable due to end effector movement. Experiments have been conducted to evaluate the task performance by monitoring the applied force on the end effector, the position data and the task time. The results show that with impedance configuration, a moveable compliant robot is a possible solution for use in assembly operation.