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

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 discussed
9780780341043
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11563/11657
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