Abstract
The use of high bandwidth, six degree-of-freedom impedance controlled robot to perform tasks of limited positioning and contacts with components is investigated. The two tasks are associated with loading and unloading of tools and workpieces in and out of a machining center in uncertain positions, such as cranking, sliding and screwing. The resulting interface forces between the manipulator and its environment are kept within acceptable levels despite unintentional inaccurate positioning. The impedance controlled robots can be readily integrated with the types of equipment and environments found on factory floors, while simultaneously reducing the accuracy required by the robot or by the tooling set up which leads to lower costs.
| Original language | English (US) |
|---|---|
| Pages | 207-216 |
| Number of pages | 10 |
| State | Published - 1995 |
| Event | Proceedings of the 1995 ASME International Mechanical Engineering Congress and Exposition - San Francisco, CA, USA Duration: Nov 12 1995 → Nov 17 1995 |
Other
| Other | Proceedings of the 1995 ASME International Mechanical Engineering Congress and Exposition |
|---|---|
| City | San Francisco, CA, USA |
| Period | 11/12/95 → 11/17/95 |
