Title :
Compliant control of threaded fastener insertion
Author :
Nicolson, Edward J. ; Fearing, Ronald S.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Abstract :
Controlled compliance and accommodation matrix techniques are considered for robust insertion of threaded fasteners. Errors in translation positioning are shown to be easily corrected. Errors in the angle of tilt between the threaded parts are shown to be much more difficult to correct. They are shown to constrain the region of convergence for simple linear techniques
Keywords :
assembling; compliance control; industrial robots; matrix algebra; position control; accommodation matrix; compliance control; convergence; position control; positioning; threaded fastener insertion; tilt angles; Convergence; Error correction; Fasteners; Magnetic heads; Robotic assembly; Robots; Robust control; Springs; Torque; Yarn;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292026
