This paper deals with 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 lab, and the results are illustrated and critically discussed.
Control of two industrial robots for parts mating / F., Caccavale; C., Natale; Siciliano, Bruno; Villani, Luigi. - STAMPA. - 1:(1998), pp. 562-566. (Intervento presentato al convegno IEEE Conference on Control Applications tenutosi a Trieste, Italy nel September) [10.1109/CCA.1998.728532].
Control of two industrial robots for parts mating
SICILIANO, BRUNO;VILLANI, LUIGI
1998
Abstract
This paper deals with 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 lab, and the results are illustrated and critically discussed.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
