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
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;
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
DOI :
10.1109/APCCAS.1998.743873
