Summary and Conclusions
General-purpose robots used in automated manufacturing cells are fast and flexible, but inherently unsuited for fine motion work. Methods are discussed in the literature for improving the accuracy of robots, but a better solution is to endow the robot with a wrist and active hand for fine work. The solution is effective because many manufacturing tasks can be broken into separate fine and gross motion subtasks.
KeywordsPlanar Contact Assembly Task Active Hand Fine Motion Distribute Control System
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