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

Conference paper (2016)

Authors

N. Mol European Space Agency (ESA)
J. Smisek European Space Agency (ESA),
R. Babuska OLD Intelligent Control & Robotics
A. Schiele Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering , European Space Agency (ESA)
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Published Date

2016

Language

English

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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.