Force Controlled Assembly of Emergency Stop Button
Författare
Summary, in English
This paper describes an assembly scenario where a switch should be snapped into place in a box. Force sensing is used to resolve the uncertain position of the parts and detect the snap at the end of the operation. During the assembly an uncertain distance is estimated to improve the performance. By performing the assembly several times, learning is used to generate feed-forward data, which is used to speed up the assembly.
Avdelning/ar
Publiceringsår
2011
Språk
Engelska
Publikation/Tidskrift/Serie
Proc. 2011 IEEE International Conference on Robotics and Automation (ICRA2011)
Fulltext
Dokumenttyp
Konferensbidrag
Ämne
- Control Engineering
Conference name
IEEE International Conference on Robotics and Automation, 2011
Conference date
2011-05-09 - 2011-05-13
Conference place
Shanghai, China
Status
Published
Projekt
- ROSETTA
- Robotics Lab LTH
Forskningsgrupp
- LCCC