Title

ACTIVE COMPLIANCE CONTROL STRATEGIES FOR ROBOTIC ASSEMBLY APPLICATIONS.

Document Type

Conference Proceeding

Date of Original Version

12-1-1985

Abstract

A hybrid force/position control scheme is developed that is suitable for robotic assembly applications. The technique uses active compliance or 'stiffness control,' and is suitable for use with commercially available robots that are programmed by means of position, rather than force, commands. The generic structure of an assembly task is analyzed, and is used to develop a procedure whereby the user can easily adapt the control scheme to the particular application at hand. Examples and experimental results using a BNC 'bayonet' type connector are presented to demonstrate successful applications of the scheme.

Publication Title

American Society of Mechanical Engineers, Production Engineering Division (Publication) PED

Volume

15

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