DocumentCode
2116297
Title
Planar parts-mating using structured compliance
Author
Kosuge, Kazuhiro ; Shimizu, Masayuki
Author_Institution
Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan
Volume
3
fYear
2001
fDate
2001
Firstpage
1477
Abstract
In this paper, we propose a new method for planar assembly of two parts assuming positioning errors of parts as well as frictions between the parts. The parts-mating is realized by specifying a structured compliance of a part with respect to the other part assuming positioning errors as well as frictions between the parts. The structured compliance is the compliance defined with respect to a generalized coordinate system, which is selected so as to accomplish the parts-mating assuming positioning error between the parts. How to specify the generalized coordinate system is discussed in this paper. Several examples will illustrate the effectiveness of the proposed method
Keywords
assembling; compliance control; industrial robots; frictions; planar assembly; planar parts-mating; positioning errors; robotic assembly; structured compliance; Assembly systems; Damping; Error correction; Force control; Friction; Machine intelligence; Robot kinematics; Robotic assembly; Systems engineering and theory;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location
Maui, HI
Print_ISBN
0-7803-6612-3
Type
conf
DOI
10.1109/IROS.2001.977189
Filename
977189
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