Title :
Determining compliant motions for planar assembly tasks in the presence of friction
Author :
Rosell, Jan ; Baxanez, L. ; Suarez, Raul
Author_Institution :
Inst. de Cibernetica, Univ. Politecnica de Catalunya, Barcelona, Spain
Abstract :
Force-compliant control is an important aspect for performing assembly tasks with robots, since the geometric constraints of the task are usually used as guides. The paper presents the specification of compliant motions for planar assembly tasks (two degrees of freedom of translation and one of rotation), taking into account the effect of friction
Keywords :
assembling; compliance control; force control; industrial manipulators; motion control; path planning; compliant motions; force-compliant control; friction; geometric constraints; planar assembly tasks; Acceleration; Force control; Friction; Kinematics; Mobile robots; Robotic assembly; Robotics and automation; Torque; Uncertainty;
Conference_Titel :
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location :
Grenoble
Print_ISBN :
0-7803-4119-8
DOI :
10.1109/IROS.1997.655123
