27 March 1987 Robotic Assembly Using A Vibratory Interference Sensor
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Proceedings Volume 0726, Intelligent Robots and Computer Vision V; (1987) https://doi.org/10.1117/12.937749
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States
To avoid jamming during robot assisted assembly, the forces and moments induced by centering and alignment errors must be limited. A strategy is presented which incorporates feedback information from a vibratory interference sensor into the robot position control loop. A digital search algorithm is used to reduce the centering errors and and to assemble the mating parts.
© (1987) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
G.Dudley Shepard, Stuart Smith, Steven Christensen, Richard Lu, "Robotic Assembly Using A Vibratory Interference Sensor", Proc. SPIE 0726, Intelligent Robots and Computer Vision V, (27 March 1987); doi: 10.1117/12.937749; https://doi.org/10.1117/12.937749


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