Optimization of damping control parameters for cycle time reduction in clutch assembly

Parameter tuning of force control is important for successful robotic assembly and ensuring high efficiency operations. In this paper, we present a method of designing damping control parameters for general assembly operations by considering the cycle time. In this method, optimal parameters are obtained through iterative simulations of assembly operations because it is difficult to estimate the cycle time analytically. We have applied the method to clutch assembly, which is a complicated insertion of a splined axis into movable toothed plates, and demonstrate how the operation can be sped up using the obtained parameters.