Peg-in-hole assembly using impedance control with a 6 DOF robot

Autor:	Broenink, Jan F., Tiernego, Martin L.J., Bruzzone, Augostino G., Kerckhoffs, Eugene J.H.
Jazyk:	angličtina
Rok vydání:	1996
Předmět:	Computer Science::Robotics IR-99984 METIS-113509
Zdroj:	Simulation in Industry, 8th European Simulation Symposium, ESS'96: October 24-26, 1996, Genoa, Italy, 504-508 STARTPAGE=504;ENDPAGE=508;TITLE=Simulation in Industry, 8th European Simulation Symposium, ESS'96
Popis:	To gain insight in problems of industrial assembly operations, an anthropomorphic robot equipped with a vision system was used to insert differently shaped pegs into corresponding holes of a plastic ball. Spatial impedance control was used, to properly deal with the interaction between robot and environment and to elegantly chose the impedance of the robot. Simulations gave insight into the behavior of the manipulator during free motion and during contact. Experimental results complied with simulations, but contact forces appeared to be higher than the simulated ones.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=narcis______::6e8fede0084107f17a32458f33697a12 https://research.utwente.nl/en/publications/peginhole-assembly-using-impedance-control-with-a-6-dof-robot(0f6898d3-5fab-4ac0-9430-8596d6da9c60).html Zobrazit plný text záznamu