Dynamic analysis of assembly process with passive compliance for robot manipulators

Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA

Volumn 3, Issue , 2003, Pages 1168-1173

  Du, K L ^a   Zhang, Biao Biao ^b   Huang, Xinhan ^c   Hu, Jianyuan ^c  

^a Civil and Environmental Engineering   (Canada)

^b UNIVERSITY OF NEW SOUTH WALES   (Australia)

^c HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY   (China)

Author keywords

[No Author keywords available]

Indexed keywords

ARTIFICIAL INTELLIGENCE; ASSEMBLY; AUTOMATION; MANIPULATORS; ROBOT APPLICATIONS; SENSITIVITY ANALYSIS;

ACTIVE CONTROL; ASSEMBLY AUTOMATION; ASSEMBLY PROCESS; DYNAMIC PROPERTY; PASSIVE COMPLIANCE; PEG-IN-HOLE; REMOTE CENTER COMPLIANCE; ROBOT MANIPULATOR;

ROBOTICS;

EID: 84942322047     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CIRA.2003.1222162     Document Type: Conference Paper

References (9)

1. K.-L. Du, X. Huang, J. Hu, and M. Wang. Assembly Robotics Research: A survey. Int'l Journal of Robotics and Automation, 14(4): 171-183, 1999
2. D.E. Whitney. Quasi-Static Assembly of the Compliantly Supported Rigid Parts. Trans. ASME J. Dynamic Syst., Meas. andContr., 104( 1): 65-77, 1982
3. J.E. Colgate and H. Hogan. Int. J. of Control, 48(1): 65-88, 1988
4. H. Asada and K. Ogawa. Manipulator Dynamics Analysis Using the Generalized Centroid and Virtual Mass for Task Planning and End-Effector Design. Proc. ASME Winter Annual Meeting, Boston, Modeling and Control of Robotic Manipulators and Manufacturing Processes, vol. DSC-6, pages 101-110, 1987
5. H. Asada and Y. Kakumoto. The Dynamic Analysis and Design of a High-Speed Insertion Hand Using the Generalized Centroid and Virtual Mass. Trans. ASME J. DSMC, 112:646-652, 1990
6. M. Shahinpoor and H. Zohoor. Analysis of Dynamic Insertion Type Assembly for Manufacturing Automation. Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2458-2464, CA, 1991
7. D.N. Trong and M. Betemps. A New Compliant Wrist for High Speed Chamferless Assembly. Proc. of 2nd Japan-France Congress on Mechatronics, 1994
8. D.N. Trong and M, Betemps. Analysis of Dynamic Assembly Using Passive Compliance, Proc IEEE Int. Conf. on Robotics and Automation, pages 1997-2002, 1995
9. W. Seyfferth and F. Pferffer. Dynamics of Assembly Processes with a Manipulator. Proc. IEEE/RSJ Int. Conf. onlntell. Robots and Systems, pages 1303-1310, 1992