Abstract
A two-point contact model in robotic assembly is considered, in a quasi-static formulation. In the experiments, a robot equipped with a force and torque sensor is employed. The consistency of theoretical analysis with physical experiments is discussed.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Bozhkova, L.V., Vartanov, M.V., and Shandrov, B.V., Algorithmic support for an intelligent robotic assembly, Izv. Vogograd. Gos. Tekh. Univ., 2014, vol. 12, no. 21 (148), pp. 59–64.
Gorinevskii, D.M., Formal’skii, A.M., and Shneider, A.Yu., Upravlenie manipulyatsionnymi sistemami na osnove informatsii ob usiliyakh (Control of Manipulation Systems Based on Information on Efforts), Gurfinkel’, V.S. and Devyanin, E.A., Eds., Moscow: Fizmatlit, 1994.
Chernyakhovskaya, L.B., Kinematicheskii i dinamicheskii analizy avtomaticheskoi sborki tsilindricheskikh detalei: Monografiya (Kinematic and Dynamics Analysis of Automatic Assembly of Cylindrical Parts: Monograph), Samara: Samar. Gos. Tekh. Univ., 2011.
Stolt, A., Linderoth, M., Robertsson, A., and Johansson, R., Adaptation of force control parameters in robotic assembly, Proc. 10th IFAC Symp. on Robot Control (SYROCO-2012), Dubrovnik, Croatia, Dubrovnik: Int. Fed. Autom. Control, 2012, pp. 561–566.
Author information
Authors and Affiliations
Corresponding author
Additional information
Original Russian Text © M.V. Vartanov, M.V. Arkhipov, V.K. Petrov, R.S. Mishchenko, 2017, published in STIN, 2017, No. 4, pp. 14–16.
About this article
Cite this article
Vartanov, M.V., Arkhipov, M.V., Petrov, V.K. et al. Active adaptation in robotic assembly. Russ. Engin. Res. 37, 814–816 (2017). https://doi.org/10.3103/S1068798X17090222
Published:
Issue Date:
DOI: https://doi.org/10.3103/S1068798X17090222