IEEE - Institute of Electrical and Electronics Engineers, Inc. - Nested compliant admittance control for robotic mechanical assembly of misaligned and tightly toleranced parts

2016 IEEE International Conference on Systems, Man and Cybernetics (SMC)

Author(s): Nicky Mol ; Jan Smisek ; Robert Babuska ; Andre Schiele
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2016
Conference Location: Budapest, Hungary
Conference Date: 9 October 2016
Page(s): 2,717 - 2,722
ISBN (Electronic): 978-1-5090-1897-0
ISBN (USB): 978-1-5090-1819-2
DOI: 10.1109/SMC.2016.7844650
Regular:

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... View More

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