DocumentCode
2535560
Title
Robotic insertion of dual pegs based on force feedback signals
Author
Kittipongpattana, Thammarat ; Laowattana, Djitt
Author_Institution
Center of Oper. for Field Robotic Dev., King Mongkut´´s Inst. of Technol., Bangkok, Thailand
fYear
1998
fDate
24-27 Nov 1998
Firstpage
527
Lastpage
530
Abstract
This paper presents a theoretical study for constructing jamming diagrams of dual pegs from their contact configurations. Some experimentally determined jamming coordinates were plotted to verify theoretical jamming diagrams. Forces and moments data versus time during dual pegs insertion were also calculated and experimentally measured
Keywords
assembling; compliance control; force control; force feedback; industrial robots; contact configurations; dual pegs insertion; force feedback signals; jamming diagrams; moments data; robotic insertion; Force feedback; Force measurement; Geometry; Jamming; Motion control; Robot kinematics; Robot sensing systems; Robotic assembly; Service robots; Time measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Circuits and Systems, 1998. IEEE APCCAS 1998. The 1998 IEEE Asia-Pacific Conference on
Conference_Location
Chiangmai
Print_ISBN
0-7803-5146-0
Type
conf
DOI
10.1109/APCCAS.1998.743873
Filename
743873
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