Case studies in the manipulation of flexible parts using a hybrid position/force approach

A unified method for the planning and control of tasks involving flexible parts is applied to two case studies: the bending of sheet metal and the insertion of a beam into a hole with friction. The method is formulated on a hybrid position/force framework so as to exploit the advantages brought about by load elasticity. The unifying design guideline is the maintenance of deformations on the load so that a region of reduced stiffness is presented to the force controller. The main focus of this paper is the experimental results obtained from the implementation of the tasks