Trajectory control and force sensing of the robot manipulators using a joint torque disturbance observer

• Main Author: Lee, Chong Yee.
• Other Authors: S. P. Chan
• Format: Theses and Dissertations
• Language: English
• Published: 2009
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
• Online Access: http://hdl.handle.net/10356/19787
• Institution: Nanyang Technological University

In a typical robotic assembly for odd-form electronic components, the insertion task is normally carried out vertically downward. This insertion approach can best be accom-plished with a SCARA robot. During the insertion process, many factors could affect its success. These factors include the error introduced during board alignment, error introduced at the pick-up point, robot positioning error, dimensional error of the robot support structure, the manufacturing tolerances of the component's lead and more importantly the uncontrollable factor such as bent lead. Good position or trajectory tracking is required to reduce the error introduced at the pick-up point and motion related positioning error to minimum.