DocumentCode :
277475
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
fYear :
1992
fDate :
33772
Firstpage :
42461
Lastpage :
42463
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;
fLanguage :
English
Publisher :
iet
Conference_Titel :
Multi-Arm Robotics, IEE Colloquium on
Conference_Location :
London
Type :
conf
Filename :
168580
Link To Document :
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