Multiple-Point Contact Control for Part Assembly. Position Control of Total Contact Force.
نویسندگان
چکیده
منابع مشابه
Robotic Assembly and Contact Force Control
Modern industrial robots are traditionally programmed to follow desired trajectories, with the only feedback coming from the internal position/angle sensors in the joints. The robots are in general very accurate in tracking the desired motion, and they have become indispensable in many applications, such as spot welding and painting in the automotive industry. In more complex tasks, such as phy...
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Multiple contact interaction is common in many robotic applications. These include grasping, wheeled vehicles, and distributed manipulation. All of these applications are capable of experiencing stick/slip phenomena at the contact interfaces. In particular, when there are more kinematic constraints than there are degrees of freedom, some contact interfaces must slip. Moreover, this stick/slip b...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1997
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.63.2820