Active Peg-in-hole of Chamferless Parts using Force/Moment Sensor
- Title
- Active Peg-in-hole of Chamferless Parts using Force/Moment Sensor
- Author
- 임동진
- Keywords
- Force sensors; Robot sensing systems; Service robots; Robotics and automation; Robotic assembly; Algorithm design and analysis; Force control; Instruments; Modems; Manufacturing industries
- Issue Date
- 1999-10
- Publisher
- IEEE
- Citation
- Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289) Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on. 2:948-953 vol.2 1999
- Abstract
- This paper discuss the peg-in-hole task of chamferless parts using force/mement
sensor. In this paper, when the directional error occurs during the task,
it is supposed that there are two cases with small and large errors, and quasi-static
analysis has been accomplished for each case. In most other algorithms, however,
when there is large directional error during the task, the robot has to return
to the initial position and start the task from the beginning, which is considered
to be inefficient. This paper proposes the algorithm which enables a robot to continue
the task even with large directional error by adjusting the positional and directional
error. This algorithms has been implemented for the 5-axis robot and is shown to be
effective.
- URI
- https://ieeexplore.ieee.org/document/812802?arnumber=812802&SID=EBSCO:edseeehttps://repository.hanyang.ac.kr/handle/20.500.11754/171386
- ISBN
- 0-7803-5184-3; 978-0-7803-5184-4
- DOI
- 10.1109/IROS.1999.812802
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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