An Adaptable Robotic System for Assembling Irregular Earphone Parts on Factory Automation The assembly of earphone parts in electro acoustic factory automation is a challenging problem for industrial robots. The main difficulties come from the fact that conventional industrial robots perform poorly on rapidupdated earphone parts, which are characterized by small size, variety and irregular shapes. Whatxe2x80x99s worse, the robot cannot adapt to the earphone parts with different poses effectively. In order to tackle above problems, an adaptable robotic system guided by the 3D laser triangulation sensor and sixaxis FT sensor is built in this paper. In addition, to reduce position errors caused by the 3D sensor accidently, an assembly strategy which is implemented by the admittance controller learned from human teaching, is proposed for assembling earphone parts. Specifically, AdaBoostbased GPR method is applied to derive the admittance gain, so that the controller perform effectively. A series of comparative experiments prove that the established system could demonstrate superior performance on the earphone parts with small size, variety and irregular shapes. Furthermore, it is also validated that the assembly strategy could be executed effectively on the earphone parts with different poses.

MultiSurface Admittance Control Approach applied on Robotic Assembly of LargeScale parts in Aerospace Manufacturing The robotization of assembly operations is one of the requests of aircraft manufacturers. During the assembly of largescale subassemblies, contact forces between parts must be controlled. Exceeding some limits can damage the aircraft parts. This can happen because of the poor accuracy of industrial robots and uncertainties of partsu0027 positions, and orientations. This paper proposes a new approach to control the movement of the robot endeffector, taking into account the contact forces between the parts during assembly. The suggested approach can be used to assemble complex shape and largescale parts. Based on the admittance control, the proposed approach is used to ensure multisurface contact. It allows to control the interaction forces at each contact surface. Each contact is modeled by a massspringdamper system. This approach was tested on the assembly of two largescale airplaneu0027s parts using a KUKA robot (KR340), equipped with a ForceTorque (FT) sensor. The performance of this multisurface approach was compared to one surface admittance control.