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force-position control

Robotica (1)

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Assembly Strategies for Parts with a Plane of Symmetry
N. A. Aspragathos
Journal:

Robotica / Volume 9 / Issue 2 / April 1991

Published online by Cambridge University Press:

09 March 2009, pp. 189-195
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This paper describes the development of assembly strategies based on hybrid force/position control. The assembly strategies developed are confined to the large class of assembly tasks defined as a peg-in-the-hole assembly having a plane of symmetry passing through the axis of insertion.
The basic idea to develop a robotic system for programmable assembly is presented. This system can currently operate controlled manipulators with minor modifications, i.e. if a force/torque sensor and proper software for hybrid control are provided.
The principles of writing assembly strategies are analysed and examples of more complex assembly tasks than the classic round peg-in-the-hole are discussed in detail.