Detection of faults in assembly automation is important for improving quality of the end product. One way of detecting jamming and blocking types of faults in parts assembly is to analyze the data acquired from the Inertial Measurement Unit (IMU). For the method, the IMU is rigidly fixed with the robot tool and is able to sense accurately the true motion of the tool during the execution of the manufacturing task.

Partners: ABB Wiring Accessories Oy, Aalto University
Keywords: fault detection, assembly, IMU
Contact: Markku Hentula /VTT
Robotics Fusion