Robotic assembly of emergency-stop buttons

Industrial robots are usually position controlled, which requires high accuracy of the robot and the workcell. Some tasks, such as assembly, are difficult to achieve by using using only position sensing. This work presents a framework for robotic assembly, where a standard position-based robot program is integrated with an external controller performing with force-controlled skills. The framework is used to assemble emergency-stop buttons which had been tailored to be assembled by humans. This work was published in A. Stolt, M. Linderoth, A. Robertsson, R. Johansson: Force controlled assembly of emergency stop button, Proc. Int. Conf. Robot. Autom. (ICRA), Shanghai (2011), pp. 3751–3756