Robust control for peg-in-hole assembly

• المؤلف الرئيسي: Low, Soon Hing
• مؤلفون آخرون: Pham Quang Cuong
• التنسيق: Final Year Project
• اللغة: English
• منشور في: Nanyang Technological University 2022
• الموضوعات: Engineering::Mechanical engineering
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/159042

Peg-in-hole assembly is a form of commonly seen assembly task in the modern world. The assembly process is even more challenging when the clearance of workpiece is very tight. Force feedback controller is a commonly used method to tackle the problem. Depending on the overall contact stiffness, the...