DocumentCode
320697
Title
Determining compliant motions for planar assembly tasks in the presence of friction
Author
Rosell, Jan ; Baxanez, L. ; Suarez, Raul
Author_Institution
Inst. de Cibernetica, Univ. Politecnica de Catalunya, Barcelona, Spain
Volume
2
fYear
1997
fDate
7-11 Sep 1997
Firstpage
946
Abstract
Force-compliant control is an important aspect for performing assembly tasks with robots, since the geometric constraints of the task are usually used as guides. The paper presents the specification of compliant motions for planar assembly tasks (two degrees of freedom of translation and one of rotation), taking into account the effect of friction
Keywords
assembling; compliance control; force control; industrial manipulators; motion control; path planning; compliant motions; force-compliant control; friction; geometric constraints; planar assembly tasks; Acceleration; Force control; Friction; Kinematics; Mobile robots; Robotic assembly; Robotics and automation; Torque; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location
Grenoble
Print_ISBN
0-7803-4119-8
Type
conf
DOI
10.1109/IROS.1997.655123
Filename
655123
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