Case studies in the manipulation of flexible parts using a hybrid position/force approach

Author

Kraus, Werner, Jr. ; McCarragher, Brenan J.

Author_Institution

Dept. of Eng., Australian Nat. Univ., Canberra, ACT, Australia

Volume

1

fYear

1997

fDate

20-25 Apr 1997

Firstpage

367

Abstract

A unified method for the planning and control of tasks involving flexible parts is applied to two case studies: the bending of sheet metal and the insertion of a beam into a hole with friction. The method is formulated on a hybrid position/force framework so as to exploit the advantages brought about by load elasticity. The unifying design guideline is the maintenance of deformations on the load so that a region of reduced stiffness is presented to the force controller. The main focus of this paper is the experimental results obtained from the implementation of the tasks

Keywords

flexible structures; force control; manipulators; position control; deformation maintenance; flexible parts; hybrid position/force approach; insertion; load elasticity; manipulation; reduced stiffness; sheet metal bending; Computer aided software engineering; Deformable models; Elasticity; Force control; Friction; Guidelines; Load modeling; Orbital robotics; Path planning; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.620065

Filename

620065