Insertions using geometric analysis and hybrid force-position control: method and analysis
DR Strip - Proceedings. 1988 IEEE International Conference on …, 1988 - ieeexplore.ieee.org
DR Strip
Proceedings. 1988 IEEE International Conference on Robotics and …, 1988•ieeexplore.ieee.orgTechniques based on active compliance implemented with hybrid force-position control are
presented which are capable of inserting a wide variety of shaped pegs. The forces
encountered during the insertions are analyzed to determine what classes of shapes these
techniques will consistently insert. The analysis also gives guidance in selecting parameters
of these techniques for specific shapes. Particular attention is given to polygonal, convex
polygonal, and smooth convex parts.<>
presented which are capable of inserting a wide variety of shaped pegs. The forces
encountered during the insertions are analyzed to determine what classes of shapes these
techniques will consistently insert. The analysis also gives guidance in selecting parameters
of these techniques for specific shapes. Particular attention is given to polygonal, convex
polygonal, and smooth convex parts.<>
Techniques based on active compliance implemented with hybrid force-position control are presented which are capable of inserting a wide variety of shaped pegs. The forces encountered during the insertions are analyzed to determine what classes of shapes these techniques will consistently insert. The analysis also gives guidance in selecting parameters of these techniques for specific shapes. Particular attention is given to polygonal, convex polygonal, and smooth convex parts.< >
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