DocumentCode
282280
Title
Force control assembly using a general purpose algorithm
Author
Bland, C.J.
Author_Institution
Dept. of Electr., Electron. & Syst. Eng., Coventry Polytech., UK
fYear
1989
fDate
32819
Firstpage
42583
Lastpage
42587
Abstract
One of the major short-comings with active, force control assembly, is the amount of effort required to develop the control algorithms. The paper outlines a general strategy for the assembly of rigid parts and illustrates its performance using a mathematical model of the assembly of a cylindrical, chamfered peg into a hole. The use of robots is also considered
Keywords
assembling; force control; industrial robots; active force control assembly; cylindrical chamfered peg; general purpose algorithm; rigid parts;
fLanguage
English
Publisher
iet
Conference_Titel
Controllers for Robotic Applications - Concepts and Implementations, IEE Colloquium on
Conference_Location
London
Type
conf
Filename
198945
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