Robot parts assembly on a workpiece moving on an assembly line

A method for using an industrial robot to assemble a part to a predetermined location on a randomly moving workpiece comprising:

• a. causing said robot to grip said part;
• and
• b. simultaneously using signals from a vision system and a force sensor both mounted on said robot to control movement of said robot to a position where said gripped part can be assembled by said robot to said predetermined location on said randomly moving workpiece.

A system for controlling an industrial robot to assemble a part to a predetermined location on a randomly moving workpiece comprising:

• an industrial robot comprising a force sensor and a vision system both mounted on said robot;
• and
• apparatus connected to said robot for controlling said robot, said apparatus responsive to signals simultaneously from said force sensor and said vision system to control movement of said robot after said robot has gripped said part to a position where said part can be assembled by said robot to said predetermined location on said randomly moving workpiece.

A computer program product on a tangible media for controlling an industrial robot to assemble a part to a predetermined location on a randomly moving workpiece, said computer program product comprising:

• computer usable program code configured to cause said robot to grip said part;
• and
• computer usable program code configured to simultaneously use signals from a vision system and a force sensor both mounted on said robot to control movement of said robot to a position where said gripped part can be assembled by said robot to said predetermined location on said randomly moving workpiece.