Peg-in-hole assembly using impedance control with a 6 DOF robot

Jan F. Broenink, Martin L.J. Tiernego

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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    To gain insight in problems of industrial assembly operations, an anthropomorphic robot equipped with a vision system was used to insert differently shaped pegs into corresponding holes of a plastic ball. Spatial impedance control was used, to properly deal with the interaction between robot and environment and to elegantly chose the impedance of the robot. Simulations gave insight into the behavior of the manipulator during free motion and during contact. Experimental results complied with simulations, but contact forces appeared to be higher than the simulated ones.
    Original languageEnglish
    Title of host publicationSimulation in Industry, 8th European Simulation Symposium, ESS'96
    Subtitle of host publicationOctober 24-26, 1996, Genoa, Italy
    EditorsAugostino G. Bruzzone, Eugene J.H. Kerckhoffs
    Place of PublicationGenoa, Italy
    PublisherSociety for Computer Simulation International
    Number of pages5
    ISBN (Print)1-56555-099-4
    Publication statusPublished - 15 Oct 1996
    Event8th European Simulation Symposium, ESS 1996 - Genoa, Italy
    Duration: 24 Oct 199626 Oct 1996
    Conference number: 8


    Conference8th European Simulation Symposium, ESS 1996
    Abbreviated titleESS
    Internet address


    • IR-99984
    • METIS-113509


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