Name
Abstract | ||
|---|---|---|
In this paper we develop a compliant system that permits robotic assembly of chamferless pieces. The idea is to absorb the positioning error between parts to be inserted by giving one of them a planar random movement. An actuator consisting of two axes (X and Y) operated by an electromagnetic system is fitted to the work table; when its inputs are pseudo-random binary signals (P.R.B.S.) random motion is obtained. The trajectories of the actuator are analysed depending upon the P.R.B.S. parameters and a peg-in-a-hole assembly task is carried out. Experimental results show that large positioning errors can be compensated for chamferless insertions. |
Year | DOI | Venue |
|---|---|---|
1991 | 10.1017/S0263574700015538 | ROBOTICA |
DocType | Volume | Issue |
Journal | 9 | 1 |
ISSN | Citations | PageRank |
0263-5747 | 9 | 1.39 |
References | Authors | |
3 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| F. Badano | 1 | 9 | 1.39 |
| M. Betemps | 2 | 10 | 2.13 |
| T. Redarce | 3 | 54 | 6.13 |
| A. Jutard | 4 | 10 | 2.13 |