Planar parts-mating using structured compliance

IEEE International Conference on Intelligent Robots and Systems

Volumn 3, Issue , 2001, Pages 1477-1482

  Kosuge, Kazuhiro ^a   Shimizu, Masayuki ^a  

^a TOHOKU UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ERRORS; FRICTION; LOADS (FORCES); MATHEMATICAL MODELS; MATRIX ALGEBRA; POSITION CONTROL;

GENERALIZED COORDINATE SYSTEM; PLANAR PARTS-MATING; POSITIONING ERRORS; STRUCTURED COMPLIANCE;

ROBOTIC ASSEMBLY;

EID: 0035559115     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (6)

1. Historical perspective and state of the art in robot force control
2. Admittance matrix design for force-guided assembly
3. Derivation of damping control parameters based on geometric model
4. Quasi-static assembly of compliantly supported rigid parts
5. Kinematics and statics of manipulation using the theory of polyhedral convex cones
6. Task-oriented force control of parallel link robot for the assembly of segments of a shield tunnel excavation system