An impedance-controlled parallel robot for high-speed assembly of white goods

Industrial Robot

Volumn 32, Issue 3, 2005, Pages 226-233

  Bruzzone, L E ^a   Molfino, R M ^a   Zoppi, M ^a  

^a UNIVERSITY OF GENOA   (Italy)

Author keywords

Assembly lines; Electrical impedance; Kinematics; Robotics

Indexed keywords

ALGORITHMS; ELECTRIC IMPEDANCE; INDUSTRIAL ROBOTS; KINEMATICS; MATHEMATICAL MODELS; PROJECT MANAGEMENT; ROBOTIC ASSEMBLY;

ASSEMBLY LINES; DYNAMIC MODELS; PARALLEL ROBOTS; WHITE GOODS;

ROBOTICS;

EID: 20444497668     PISSN: 0143991X     EISSN: None     Source Type: Journal    
DOI: 10.1108/01439910510593910     Document Type: Article

References (19)

1. Bruzzone, L.E., Molfino, R.M. and Zoppi, M. (2002), "A cost-effective purely translational parallel robot for rapid assembly tasks", Proc. Conf. on Development Methods and Application Experience of Parallel Kinematics, 3rd Chemnitz Parallel Kinematics Seminar, 2002 Parallel Kinematic Machines Intl. Conf, 2nd NCG Application Conference on Parallel Kinematic Machines, pp. 429-40.
2. Carretero, J.A., Podhorodeski, R.P., Nahon, M.A. and Gosselin, C.M. (2000), "Kinematic analysis and optimization of a new three degree-of-freedom spatial parallel manipulator", J. Mech. Des., Vol. 122, pp. 17-24.
3. Clavel, R. (1989), "Une nouvelle structure de manipulateur parallèle pour la robotique légère", APII, Vol. 23 No. 6, pp. 501-19.
4. DiGregorio, R. (2002), "Translational parallel manipulators: new proposals", J. Robotics Sys., Vol. 19 No. 12, pp. 595-603.
5. Gopalakrishnan, V., Fedewa, D., Mehrabi, M., Kota, S. and Orlandea, N. (2002), "Parallel structures and their applications in reconfigurable machining systems", J. Manufacturing Sci. and Eng., Vol. 124, pp. 483-5.
6. Hogan, N. (1985), "Impedance control: an approach to manipulation. Part I-II-III", ASME J. Dyn. Syst. Meas. Contr., Vol. 107, pp. 1-24.
7. Kazerooni, H., Sheridan, T.B. and Houpt, P.K. (1986), "Robust compliant motion for manipulators. Part 1: the fundamental concept of compliant motion", IEEE J. of Robotics and Automation, RA, Vol. 2 No. 2, pp. 83-92.
8. Kozlowski, D., Stoughton, R., Newman, W.S. and Hebbar, R. (2001), "Automated force controlled assembly utilizing a novel hexapod robotic manipulator", Proc. IEEE Int. Conf. on Robotics and Automation.
9. Liu, X.J., Wang, J., Gao, F. and Wang, L.P. (2001), "On the analysis of a new spatial three degree-of-freedom parallel manipulator", IEEE Trans. on Robotics and Automation, Vol. 17 No. 6, pp. 959-68.
10. Merlet, J.P. (1988), "Force-feedback control of parallel manipulators", Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1484-9.
11. Miller, K. and Clavel, R. (1992), "The Lagrange-based model of Delta-4 robot dynamics", Robotersysteme, Vol. 8, pp. 49-54.
12. Molfino, R.M., Bruzzone, L.E. and Razzoli, R.P. (2002), "Modular assembly systems: the SPI 3 research programme", Proc. 33rd Int. Symp. on Robotics, CD-ROM.
13. Park, J.H. and Cho, H.C. (1998), "Impedance control with varying stiffness for parallel-link manipulators", Proc. American Control Conf., pp. 478-82.
14. Paul, R.P. and Shimano, B. (1976), "Compliance control", Proc. Joint Automatic Control Conf., Purdue University, West Lafayette, IN.
15. Siciliano, B. and Villani, L. (1999), Robot Force Control, Kluwer Academic Publishers, Boston, MA.
16. Stewrnheim, F. (1987), "Computation of the direct and inverse geometric models of the DELTA-4 parallel robot", Robotersysteme, Vol. 3, pp. 199-203.
17. Sugar, T.G. and Kumar, V. (2002), "Design and control of a compliant parallel manipulator", J. Mech. Des., Vol. 124, pp. 676-83.
18. Vischer, P. and Clavel, R. (2000), "Argos: a Novel 3-DoF parallel wrist mechanism", Int. J. of Robotics Research, Vol. 19 No. 1, pp. 5-11.
19. Zoppi, M., Bruzzone, L.E., Molfino, R.M. and Michelini, R.C. (2004), "Position analysis of a class of translational parallel mechanisms", Int. J. Robotics and Automation, Vol. 19 No. 3, pp. 111-6.