Title :
Experimental analysis of assembly strategies with a force-controlled two-arm robot
Author :
Bouffard-Vercelli, Y. ; Degoulange, Eric
Author_Institution :
LIRMM, Montpellier II Univ., France
Abstract :
Force control is often necessary for performing complex robotic tasks, such as grinding, contour following or part mating. On the other hand, two-arm systems are very useful to achieve tasks such as manipulating cumbersome or heavy objects. The authors look at those two aspects of robotics and deal with the many problems related to the assembly of two objects with two arms (with one object per arm). In particular, they propose a force control scheme for such a task, which has been implemented on a real experimental setup. Various assembly strategies have then been experimented. The most important results and conclusions are given
Keywords :
assembling; factory automation; force control; industrial robots; assembly; factory automation; force control; industrial robots; two-arm robot;
Conference_Titel :
Multi-Arm Robotics, IEE Colloquium on
Conference_Location :
London