An object can be moved via a robotic system with a combination of force and position control. The control system can include the object to be moved, the robotic system that moves the object, at least one force sensor, at least one position sensor, and a controller. A position control output, a force control output, and a hybrid weighting value can each be determined by the controller based on sensor data and then combined to determine an amount of position control and/or force control to be applied to move the object and/or modify an object in motion's trajectory.

An automated wire insertion machine for inserting wires into grommet cavity locations of an electrical connector includes a controllable wire insertion robot and a processor to generate pre-generated plug maps based upon an original plug map of the grommet cavity locations and to control the wire insertion robot based upon one pre-generated plug map to insert the wires into the grommet cavity locations. The pre-generated plug maps are generated by defining a range of potential error of the grommet cavity locations that includes at least one of a potential rotational error and a potential translational error, defining an acceptable tolerance of the grommet cavity locations that includes at least one of an acceptable rotational tolerance and an acceptable translational tolerance, and calculating offset values of the grommet cavity locations based on the range of potential error and the acceptable tolerance, thereby generating the plurality of pre-generated plug maps.

A method 500 of operating an automated machine 100 is provided for inserting wires into grommet cavity locations 110 of an electrical connector 112 to compensate for manufacturing tolerances associated with the electrical connector. The method comprises inserting wires into grommet cavity locations of the electrical connector based upon a plug map 300 having offset values to compensate for manufacturing tolerances associated with the electrical connector. The method may further comprise selecting from a plurality of pre-generated plug maps having offset values the closest matching pre-generated plug map for the electrical connector based upon offset values associated with each of the plurality of pre-generated plugs maps. The selected pre-generated plug map having offset values corresponds to the plug map used to insert wires into grommet cavity locations of the electrical connector.

A method and system for determining geometric properties of a manipulator (2). The manipulator (2) is controlled to perform constrained motions exhibiting force interaction with the environment, or between different links of the manipulator (2), such that a kinematic chain is formed mechanically. The chain may include peripherals and external axes of motion. A constraining device, enables motions that facilitate the determination of geometric properties. A unified model of joint and link compliances facilitates determination of stiffness parameters. The force interaction is controlled with awareness of friction such that non-geometric properties are possible to identify, thereby enabling separation of non-geometric effects from the geometric ones, which improves accuracy.

Disclosed is a variable-parameter stiffness identification and modeling method for an industrial robot. An effective working space of a robot is divided into a plurality of cubic regions. For an operating task in a certain machining region, different loads are applied to an end effector at multiple positions and multiple postures in the region, and robot joint stiffness in this section is identified and acquired according to the relationship between the loads and an end deformation, thereby realizing accurate stiffness control of the robot in different operating sections during a machining process.

Movement of an object can occur while a control system corrects for compliance within a robotic system. The control system can include the object to be moved, the robotic system that moves the object, a primary sensor positioned on the object, at least one ancillary sensor positioned on the object, and a controller. The sensors can record position and orientation data at different points on the object. The controller can use a sensor data and a delta value to correct for compliance in the robotic system. The delta value can be based on the differences between the primary sensor and the at least one ancillary sensor. The compliance correction can be applied to poses of the object to modify the trajectory of the object for more accurate movements.

Movement of an object can occur while a control system corrects for compliance within a robotic system. The control system can include the object to be moved, the robotic system that moves the object, a primary sensor positioned on the object, at least one ancillary sensor positioned on the object, and a controller. The sensors can record position and orientation data at different points on the object. The controller can use a sensor data and a delta value to correct for compliance in the robotic system. The delta value can be based on the differences between the primary sensor and the at least one ancillary sensor. The compliance correction can be applied to poses of the object to modify the trajectory of the object for more accurate movements.

An object can be moved via a robotic system with a combination of force and position control. The control system can include the object to be moved, the robotic system that moves the object, at least one force sensor, at least one position sensor, and a controller. A position control output, a force control output, and a hybrid weighting value can each be determined by the controller based on sensor data and then combined to determine an amount of position control and/or force control to be applied to move the object and/or modify an object in motion's trajectory.

A method and system for determining geometric properties of a manipulator (2). The manipulator (2) is controlled to perform constrained motions exhibiting force interaction with the environment, or between different links of the manipulator (2), such that a kinematic chain is formed mechanically. The chain may include peripherals and external axes of motion. A constraining device, enables motions that facilitate the determination of geometric properties. A unified model of joint and link compliances facilitates determination of stiffness parameters. The force interaction is controlled with awareness of friction such that non-geometric properties are possible to identify, thereby enabling separation of non-geometric effects from the geometric ones, which improves accuracy.

A method of operating an automated machine is provided for inserting wires into grommet cavity locations of an electrical connector to compensate for manufacturing tolerances associated with the electrical connector. The method comprises inserting wires into grommet cavity locations of the electrical connector based upon a plug map having offset values to compensate for manufacturing tolerances associated with the electrical connector. The method may further comprise selecting from a plurality of pre-generated plug maps having offset values the closest matching pre-generated plug map for the electrical connector based upon offset values associated with each of the plurality of pre-generated plugs maps. The selected pre-generated plug map having offset values corresponds to the plug map used to insert wires into grommet cavity locations of the electrical connector.