Title :
Automatic programming of fine-motion for assembly
Author :
Juan, Juan ; Paul, Richard P.
Author_Institution :
Instituto de Cibernética, Spain
Abstract :
We develop strategies for fine motion planning for assembly by robot manipulators. In particular we consider the insertion problem. Our strategies are based on the control of orientation and force to achieve fine position control. These methods avoid the problems of wedging and jamming.
Keywords :
Automatic control; Automatic programming; Force control; Jamming; Manipulators; Motion planning; Position control; Robotic assembly; Robotics and automation; Strategic planning;
Conference_Titel :
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
Conference_Location :
San Francisco, CA, USA
DOI :
10.1109/ROBOT.1986.1087437
