Reliable assembly of products using an impedance controlled manipulator

M. J. de Krijger*, W. T.C. van Luenen, S. T. Pedersen, S. Stramigioli

*Corresponding author for this work

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


This paper describes the development of a robotic assembly system for the assembly of consumer products in the food and personal care industry. Most commercially available manipulators are equipped with PID motion controllers which are suited for pick-and-place operations. Here we considered assembly of products under conditions of geometric deviations, a task for which PID controllers are less suited. The feasibility of such assembly tasks was investigated using an industrial manipulator provided with an impedance controller. Results indicate that a proper set of product related impedances enables the system to cope with relatively large positioning errors, resulting in more reliable assembly.

Original languageEnglish
Title of host publicationProceedings of the 1997 American Control Conference
Number of pages5
Publication statusPublished - 1 Jan 1997
Externally publishedYes
Event1997 American Control Conference, ACC 1997 - Albuquerque, United States
Duration: 4 Jun 19976 Jun 1997


Conference1997 American Control Conference, ACC 1997
Abbreviated titleACC
Country/TerritoryUnited States


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