Dynamics and control of robotic systems for assembly sets

Controlling an assembly set with a robotic system is discussed. The assembly set is formulated with a tree structure. Assembly tasks are treated as a tracking problem where the desired motion of the assembly set is described by the motion of one main body and the relative motions of other bodies with respect to the main body and others in series. Motion coordination and internal force regulation are solved simultaneously. Simulation results show that the suggested method is simple and plausible