Nested compliant admittance control for robotic mechanical assembly of misaligned and tightly toleranced parts

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Nested compliant admittance control for robotic mechanical assembly of misaligned and tightly toleranced parts

Conference Paper (2016)

Author(s)

Nicky Mol (European Space Agency (ESA))

Jan Smisek (European Space Agency (ESA), TU Delft - Aerospace Engineering)

Robert Babuska (TU Delft - Mechanical Engineering)

Andre Schiele (TU Delft - Mechanical Engineering, European Space Agency (ESA))

Research Group

Control & Simulation

DOI related publication

https://doi.org/10.1109/SMC.2016.7844650 Final published version

To reference this document use

https://resolver.tudelft.nl/uuid:41012102-656f-4348-b5d1-ca38a7f00dd9

More Info

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Publication Year

2016

Language

English

Research Group

Control & Simulation

Article number

7844650

Pages (from-to)

2717-2722

Publisher

IEEE

ISBN (electronic)

9781509018970

Event

2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 (2016-10-09 - 2016-10-12), Budapest, Hungary

Downloads counter

170

Abstract

In this paper, we propose a closed-loop force sensor based nested admittance/impedance control strategy to actively estimate and minimize the effects of geometric misalignment that naturally occur during assembly tasks with compliant robots. The method allows the robot to be used with a stiff impedance control setting, which is beneficial for free air motion performance, yet allows to adjust for large misalignment errors between parts that need be assembled.