Active Force Control for Robotic Micro-Assembly: Application to Guiding Tasks

被引：17
|
作者：
Rabenorosoa, Kanty [1 ]
Clevy, Cedric [1 ]
Lutz, Philippe [1 ]
机构：
[1] FEMTO ST Inst, CNRS, UMR 6174, UFC,ENSMM,UTBM,Automat Control & Micromechatron S, Besancon, France
来源：
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2010年
关键词：
MICROGRIPPER; COMPLIANT; FEEDBACK;
D O I：
10.1109/ROBOT.2010.5509863
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents an analytical model and experimental results from a study of guiding tasks in microassembly. This work is focused on the use of two fingers for gripping microparts. The stability of the grasp when the contact appears is investigated and strategies during the guiding task are discussed. The contact side detection and the contact force estimation are studied. The incremental control in static mode is then investigated for controlling the guiding task. Experimental setups are proposed and some experimental results are presented.
引用
收藏
页码：2137 / 2142
页数：6
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