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Compliant-motion planning and execution for robotic assembly

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3 Author(s)
Rosell, J. ; Inst. d''Organ. i Control de Sistemes Ind., Univ. Politecnica de Catalunya, Barcelona, Spain ; Basaniz, L. ; Suarez, R.

This paper presents a method for the planning and execution of compliant motions within the scope of a two-phase fine-motion planner for the performance of planar assembly tasks with robots. Algorithms are provided to find a nominal solution path in both free and contact configuration space which is feasible in spite of the uncertainties affecting the task. Compliant-motion commands based on the generalized damping control mode are synthesized to follow this path, allowing to maintain a constant bounded force

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

Date of Conference:

1999