Flexible control of robot manipulators in virtual assembly

Author

Yuan, Xiaobu ; Yang, Simon X.

Author_Institution

Sch. of Comput. Sci., Windsor Univ., Ont., Canada

Volume

1

fYear

2003

fDate

8-13 Oct. 2003

Firstpage

537

Abstract

This paper introduces an approach of flexible robot control as an exercise of advanced control technology in the application of virtual assembly. The proposed approach allows robot manipulators of unknown dynamics to physically implement assembly tasks provided that their design permit them to perform the operations as the virtual manipulators require. This study helps to eliminate the need of detailed signature modeling of individual manipulators in virtual environments, making virtual assembly more robust in practice.

Keywords

PD control; assembling; control engineering computing; flexible manipulators; industrial manipulators; neural nets; virtual manufacturing; virtual reality; advanced control technology; flexible robot control; robot manipulators control; signature modeling; virtual assembly; virtual environments; virtual manipulators; Assembly systems; Calibration; Computer graphics; Human robot interaction; Manipulator dynamics; Manufacturing industries; Robot control; Robotic assembly; Service robots; Virtual reality;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on

Print_ISBN

0-7803-7925-X

Type

conf

DOI

10.1109/RISSP.2003.1285631

Filename

1285631