Title :
Contact analysis and cooperation in automatic robotic assembly
Author :
Fei Yangqiong ; Xifang, Zhao ; Baosheng, Liu
Author_Institution :
Res. Inst. of Robotics, Shanghai Jiaotong Univ., China
Abstract :
This paper presents the concept of force screw and displacement screw, and studies the rule that can analyze point contact states in robot automatic assembly on the basis of the screw theory and the virtual work. The cooperation between several equipment is shown with an example
Keywords :
assembling; cooperative systems; industrial manipulators; mechanical contact; automatic robotic assembly; contact analysis; cooperative system; displacement screw; force screw; screw theory; Fasteners; Robotic assembly; Robotics and automation;
Conference_Titel :
Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on
Conference_Location :
Hefei
Print_ISBN :
0-7803-5995-X
DOI :
10.1109/WCICA.2000.863461
