Impedance-control based peg-in-hole assembly with a 6 DOF manipulator
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, B.-S. | - |
dc.contributor.author | Kim, Y.-L. | - |
dc.contributor.author | Song, J.-B. | - |
dc.contributor.author | Son, S.-W. | - |
dc.date.accessioned | 2021-09-07T20:49:44Z | - |
dc.date.available | 2021-09-07T20:49:44Z | - |
dc.date.created | 2021-06-17 | - |
dc.date.issued | 2011 | - |
dc.identifier.issn | 1226-4873 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/114707 | - |
dc.description.abstract | The maximum accuracy of position control by using an industrial robot is about 100μm, whereas the maximum tolerated imprecision in the position of precision parts is about several tens of micrometers. Therefore, it is very difficult to assemble parts by position control only. Moreover, in the case of precision assembly, jamming or wedging can easily occur because of small position/orientation errors, which may damage the parts to be assembled. To overcome these problems, we investigated a force control scheme that provides proper motion in response to the contact force. In this study, we constructed a force control system that can be easily implemented in a position-controlled manipulator. Impedance control by using an admittance filter was adopted to perform stable contact tasks. It is shown that the precision parts can be assembled well by adopting impedance control and blind search methods. © 2011 The Korean Society of Mechanical Engineers. | - |
dc.language | Korean | - |
dc.language.iso | ko | - |
dc.subject | 6 DOF manipulator | - |
dc.subject | Contact forces | - |
dc.subject | Contact task | - |
dc.subject | Control schemes | - |
dc.subject | Impedance control | - |
dc.subject | Peg-in-hole | - |
dc.subject | Peg-in-hole assembly | - |
dc.subject | Precision parts | - |
dc.subject | Proper motion | - |
dc.subject | Search method | - |
dc.subject | Force control | - |
dc.subject | Manipulators | - |
dc.subject | Robotic assembly | - |
dc.subject | Robotics | - |
dc.subject | Robots | - |
dc.subject | Position control | - |
dc.title | Impedance-control based peg-in-hole assembly with a 6 DOF manipulator | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Kim, B.-S. | - |
dc.contributor.affiliatedAuthor | Song, J.-B. | - |
dc.identifier.doi | 10.3795/KSME-A.2011.35.4.347 | - |
dc.identifier.scopusid | 2-s2.0-79955012403 | - |
dc.identifier.bibliographicCitation | Transactions of the Korean Society of Mechanical Engineers, A, v.35, no.4, pp.347 - 352 | - |
dc.relation.isPartOf | Transactions of the Korean Society of Mechanical Engineers, A | - |
dc.citation.title | Transactions of the Korean Society of Mechanical Engineers, A | - |
dc.citation.volume | 35 | - |
dc.citation.number | 4 | - |
dc.citation.startPage | 347 | - |
dc.citation.endPage | 352 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.identifier.kciid | ART001537488 | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.subject.keywordPlus | Robots | - |
dc.subject.keywordPlus | Position control | - |
dc.subject.keywordPlus | 6 DOF manipulator | - |
dc.subject.keywordPlus | Contact forces | - |
dc.subject.keywordPlus | Contact task | - |
dc.subject.keywordPlus | Control schemes | - |
dc.subject.keywordPlus | Impedance control | - |
dc.subject.keywordPlus | Peg-in-hole | - |
dc.subject.keywordPlus | Peg-in-hole assembly | - |
dc.subject.keywordPlus | Precision parts | - |
dc.subject.keywordPlus | Proper motion | - |
dc.subject.keywordPlus | Search method | - |
dc.subject.keywordPlus | Force control | - |
dc.subject.keywordPlus | Manipulators | - |
dc.subject.keywordPlus | Robotic assembly | - |
dc.subject.keywordPlus | Robotics | - |
dc.subject.keywordAuthor | Force control | - |
dc.subject.keywordAuthor | Impedance control | - |
dc.subject.keywordAuthor | Peg-in-hole | - |
dc.subject.keywordAuthor | Robotic assembly | - |
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