Name
Abstract | ||
|---|---|---|
We consider the problem of joining two parts by deformation and insertion. After its decomposition into a sequence of assembly primitives (AP) that include deformation, folding, deformation relaxation and insertion, a single controller of hybrid force/position type is developed to guarantee the successful completion of each assembly primitive, while avoiding the appearance of irregularities and discontinuities in the application of the AP-sequence. Initially, the joining parts are assumed to be in contact. Further key properties of the designed controller are i) contact is preserved throughout assembly; ii) excessive contact forces that may lead to damaging the joining parts, are avoided. The applicability and effectiveness of the proposed methodology is tested via experiments using a KUKA LWR4+ robotic manipulator. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.23919/ECC.2019.8796227 | 2019 18TH EUROPEAN CONTROL CONFERENCE (ECC) |
Field | DocType | Citations |
Control theory,Classification of discontinuities,Computer science,Mechanical engineering,Contact force,Deformation (mechanics),Robot manipulator | Conference | 0 |
PageRank | References | Authors |
0.34 | 0 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| George S. Kanakis | 1 | 2 | 0.75 |
| Lampros N. Bikas | 2 | 0 | 0.34 |
| George A. Rovithakis | 3 | 749 | 45.73 |