Abstract
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 language | English |
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Title of host publication | Simulation in Industry, 8th European Simulation Symposium, ESS'96 |
Subtitle of host publication | October 24-26, 1996, Genoa, Italy |
Editors | Augostino G. Bruzzone, Eugene J.H. Kerckhoffs |
Place of Publication | Genoa, Italy |
Publisher | Society for Computer Simulation International |
Pages | 504-508 |
Number of pages | 5 |
ISBN (Print) | 1-56555-099-4 |
Publication status | Published - 15 Oct 1996 |
Event | 8th European Simulation Symposium, ESS 1996 - Genoa, Italy Duration: 24 Oct 1996 → 26 Oct 1996 Conference number: 8 http://www.scs-europe.net/conf/ess96/index.htm |
Conference
Conference | 8th European Simulation Symposium, ESS 1996 |
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Abbreviated title | ESS |
Country/Territory | Italy |
City | Genoa |
Period | 24/10/96 → 26/10/96 |
Internet address |
Keywords
- IR-99984
- METIS-113509