Nested compliant admittance control for robotic mechanical assembly of misaligned and tightly toleranced parts

Nicky Mol, Jan Smisek, Robert Babuska, Andre Schiele

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

6 Citations (Scopus)

Abstract

In this paper, we propose a closed-loop force sensor based nested admittance/impedance control strategy to actively estimate and minimize the effects of geometric misalignment that naturally occur during assembly tasks with compliant robots. The method allows the robot to be used with a stiff impedance control setting, which is beneficial for free air motion performance, yet allows to adjust for large misalignment errors between parts that need be assembled.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
Place of PublicationPiscataway, NJ, USA
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages2717-2722
ISBN (Electronic)9781509018970
DOIs
Publication statusPublished - 2016
Event2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Budapest, Hungary
Duration: 9 Oct 201612 Oct 2016

Conference

Conference2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016
CountryHungary
CityBudapest
Period9/10/1612/10/16

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