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Flexible control of robot manipulators in virtual assembly

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2 Author(s)
Xiaobu Yuan ; Sch. of Comput. Sci., Windsor Univ., Ont., Canada ; Yang, Simon X.

This paper introduces an approach of flexible robot control as an exercise of advanced control technology in the application of virtual assembly. The proposed approach allows robot manipulators of unknown dynamics to physically implement assembly tasks provided that their design permit them to perform the operations as the virtual manipulators require. This study helps to eliminate the need of detailed signature modeling of individual manipulators in virtual environments, making virtual assembly more robust in practice.

Published in:

Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on  (Volume:1 )

Date of Conference:

8-13 Oct. 2003