| Autor: |
Maurice Betemps, Alain Jutard, F. Badano |
| Rok vydání: |
1991 |
| Předmět: |
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| Zdroj: |
Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments. |
| Popis: |
The authors have developed a robotic assembly system comprising a position-controlled planar actuator and a passive compliant device capable of mating chamferless cylindrical parts. The system is attached to the robot wrist and performs random search to absorb the misalignment between pieces: a combination of random movement and passive compliance permits to realize the insertion task. Pseudo-random binary signals are used to generate random movement. Results show that the system has an interesting performance: high insertion speed is possible when mating low-clearance chamferless parts at a high success rate, while large initial errors are tolerated. > |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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