• DocumentCode
    2532233
  • Title

    Automatic programming of fine-motion for assembly

  • Author

    Juan, Juan ; Paul, Richard P.

  • Author_Institution
    Instituto de Cibernética, Spain
  • Volume
    3
  • fYear
    1986
  • fDate
    0-0 April 1986
  • Firstpage
    1582
  • Lastpage
    1587
  • Abstract
    We develop strategies for fine motion planning for assembly by robot manipulators. In particular we consider the insertion problem. Our strategies are based on the control of orientation and force to achieve fine position control. These methods avoid the problems of wedging and jamming.
  • Keywords
    Automatic control; Automatic programming; Force control; Jamming; Manipulators; Motion planning; Position control; Robotic assembly; Robotics and automation; Strategic planning;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation. Proceedings. 1986 IEEE International Conference on
  • Conference_Location
    San Francisco, CA, USA
  • Type

    conf

  • DOI
    10.1109/ROBOT.1986.1087437
  • Filename
    1087437
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2532233