Automated force controlled assembly utilizing a novel hexapod robotic manipulator

Robotics, Automation, Control and Manufacturing: Trends, Principles and Applications - Proceedings of the 5th Biannual World Automation Congress, WAC 2002, ISORA 2002, ISIAC 2002 and ISOMA 2002

Volumn 14, Issue , 2002, Pages 547-552

  Kozlowski, David ^a   Stoughton, Robert ^b   Newman, Wyatt S ^c   Hebbar, Ravi ^c  

^a SANDIA NATIONAL LABORATORIES   (United States)

^b MicroDexterity Systems   (United States)

^c CASE WESTERN RESERVE UNIVERSITY   (United States)

Author keywords

Closed link chain; Compliance; Force control; Parallel manipulator; Robotic assembly

Indexed keywords

ADVANCED TECHNOLOGY DEVELOPMENT; ASSEMBLY TASKS; CLOSED LINK CHAIN; COMMERCIAL OFF THE SHELVES; COMPLIANCE; COMPLIANCE CONTROL; CONTROL PERSPECTIVE; CONTROLLED ASSEMBLY; DEGREE OF PRECISION; DETROIT; DIRECT DRIVE; DIRECT PHYSICAL CONTACTS; FLEXIBLE ROBOTICS; FORCE SENSING; FREE SPACE; HEXAPOD MANIPULATOR; INTERACTIVE FORCES; JOINT VENTURES; MECHANICAL ARCHITECTURE; PARALLEL MANIPULATORS; PHYSICAL INTERACTIONS; PICK AND PLACE; POWERTRAIN COMPONENTS; PRECISE POSITION; REAL TIME OPERATING SYSTEM; REPETITIVE OPERATIONS; ROBOTIC MANIPULATORS; SERIAL ROBOTS; WORK CELL;

CHAINS; COMPUTER CONTROL SYSTEMS; COMPUTER OPERATING SYSTEMS; FORCE CONTROL; FRICTION; INDUSTRIAL ROBOTS; MANIPULATORS; MANUFACTURE; PERSONAL COMPUTERS; ROBOTIC ASSEMBLY; SPOT WELDING;

ROBOTICS;

EID: 78650242181     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (19)

1. th Int. Tech. Congr. F.I.S.I.T.A., May 1962, p 117.
2. Stewart, D., "A Platform with Six Degrees of Freedom", Proc. Inst. Mech Engrs, Vol. 180, No. 15, 371-386, 1965.
3. Merlet, J-P, INRIA, http://www-sop.inria.fr/coprin/equipe/merlet/Archi/ archi-robot.html.
4. Mouly, N., Merlet, J-P, "Singular Configurations and Direct Kinematics of a New Parallel Manipulator", Proc. IEEE Int'l Conf. On Robotics and Automation, May 1992.
5. Merlet, J-P, "Articulated Device for Use in Particular in Robotics", US Patent #5,053,687, 1991.
6. Merlet, J-P, "Force-feedback control of parallel manipulators", IEEE Int'l. Conf. on Robotics and Automation, April 1988.
7. Stoughton, R.S., Arai, T., "A Modified Stewart Platform Manipulator with Improved Dexterity", IEEE Trans. On Robotics and Automation, Vol. 9, No. 2, April 1993, pp. 166-173.
8. Wang, Y., Newman, W., Stoughton, R.S., "Workspace Analysis of the ParaDex Robot - a Novel, Closed-Chain, Kinematically-Redundant Manipulator", Proc. IEEE Int'l Conf. On Robotics and Automation, April 2000.
9. Newman, W.S., et. al., "Force-Responsive Robotic Assembly of Transmission Components", Proc. IEEE Int'l Conf. On Robotics and Automation, May 1999.
10. Pelletier, M. and Doyon, M., "On the Implementation and Performance of Impedance Control on Position Controlled Robots", Proc. IEEE Int'l Conf. On Robotics and Automation, May 1994.
11. Glosser, G.D., Newman, W.S., "The Implementation of a Natural Admittance Controller on an Industrial Manipulator", Proc. IEEE Int'l Conf. On Robotics and Automation, May 1994.
12. Carignan, C.R., Smith, J.A., "Manipulator Impedance Accuracy in Position-Based Impedance Control Implementations", Proc. IEEE Int'l Conf. On Robotics and Automation, May 1994.
13. Mathewson, B.B., Newman, W.S., "Integration of Force Strategies and Natural Admittance Control", Proc. Int'l Mech. Engr. Congr. & Expo., Nov. 1994.
14. Whitney, D.E., "Historical Perspective and State of the Art in Robot Force Control", International Journal of Robotics Research, Vol. 6, No. 1, Spring 1987.
15. Volpe, R., Khosla, P., "An Experimental Evaluation and Comparison of Explicit Force Control Strategies for Robotic Manipulators", Proc. IEEE Int'l Conf. On Robotics and Automation, May 1992.
16. Yoshikawa, T., "Force Control of Robot Manipulators", Proc. IEEE Int'l Conf. On Robotics and Automation, April 2000.
17. Newman, W.S., "Stability and Performance Limits of Interaction Controllers", ASME Journal of Dynamic Systems, Measurement, and Control, vol. 114, December 1992, pp. 563-570.
18. Hogan, N., "Impedance Control: An Approach to Manipulation, Parts I, II, & III, ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 107, Mar. 1985, pp 1-24.
19. Hebbar, R., Morris, D., Chhatpar, S., Branicky, M., Newman, W.S., "Force Responsive Assembly of Powertrain Components", Video Proc. of the IEEE Int'l Conf. On Robotics and Automation, April 2001.