A strategy to achieve an assembly by means of an inaccurate, flexible robot

  • B. Shariat
  • P. Coiffet
  • A. Fournier


In this paper we develop a strategy that enables us to perform a precise assembly task with an inaccurate, nonspecialized, flexible robot. This strategy uses the intrinsic characteristics of the assembly and manipulator, in order to obtain information needed to carry out an assembly. No special sensors are used. Each joint is driven by an electric D.C. motor; forces acting on the manipulator are measured through the current variations of the motors. This strategy has been experimentally verified and some examples are given.


Contact Force Assembly Phase Fixed Frame Voltage Vector Transport Phase 
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Copyright information

© Crane Russak & Company Inc 1984

Authors and Affiliations

  • B. Shariat
    • 1
  • P. Coiffet
    • 1
  • A. Fournier
    • 1
  1. 1.Sciences et Technique du LanguedocLaboratoire d’Automatique de Montpellier UniversitéMontpellierFrance

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