Robust impedance control for robot manipulators

• Main Author: Chen, Heping.
• Other Authors: Chan, Sai Piu
• Format: Theses and Dissertations
• Published: 2008
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: http://hdl.handle.net/10356/3660
• Institution: Nanyang Technological University

This thesis describes the development and implementation of robust impedance control to perform an assembly task of inserting a printed circuit board (PCB) into an edge connector socket using a multi-joint robot. The insertion task involves compliant manipulation in which a substantial force is needed to accomplish the insertion operation. Due to dynamic constraints from the environment, this task is quite demanding and is adopted in the research as a common test-bed to evaluate the performance of robust control schemes with those of model-based control laws. The purpose is to identify an effective control technique for this application and hope that the findings can be extended to other assembly tasks of similar nature.