This paper deals with the control of two industrial robots performing a parts mating task of peg-in-hole type. The robot carrying the peg is commanded in the native programming language, while the robot holding the hollow part is controlled to behave as a six-degree-of-freedom spatial mechanical impedance. A programmable compliant behaviour is achieved so as to compensate for unavoidable task planning imperfections. A number of experiments are worked out on the setup available in the laboratory, and the results are illustrated and critically discussed
Control of two industrial robots for parts mating
CACCAVALE, Fabrizio;
1998-01-01
Abstract
This paper deals with the control of two industrial robots performing a parts mating task of peg-in-hole type. The robot carrying the peg is commanded in the native programming language, while the robot holding the hollow part is controlled to behave as a six-degree-of-freedom spatial mechanical impedance. A programmable compliant behaviour is achieved so as to compensate for unavoidable task planning imperfections. A number of experiments are worked out on the setup available in the laboratory, and the results are illustrated and critically discussedFile in questo prodotto:
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