✦ LIBER ✦
Increasing Efficiency of Force-Controlled Robotic Assembly: –Design of Damping Control Parameters Considering Cycle Time–
✍ Scribed by T. Arai; N. Yamanobe; Y. Maeda; H. Fujii; T. Kato; T. Sato
- Publisher
- International Academy for Production Engineering
- Year
- 2006
- Tongue
- English
- Weight
- 347 KB
- Volume
- 55
- Category
- Article
- ISSN
- 0007-8506
No coin nor oath required. For personal study only.
✦ Synopsis
2 DESIGN OF DAMPING CONTROL PARAMETERS
An overview of our design method is introduced in this section, of which fundamental algorithm was studied in [8].
2.1 Assumptions
The following assumptions are made for robotic assembly:
• An object manipulated by a robot and the environment are both rigid bodies. • Kinematics friction exists between the object and the environment.
• The robot has mechanical compliance.
• The robot is controlled through damping control, which is described as follows: