Title :
Planar parts-mating using structured compliance
Author :
Kosuge, Kazuhiro ; Shimizu, Masayuki
Author_Institution :
Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan
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;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.977189
