Control of robot manipulators for assembly tasks

• Main Author: Liaw, Hwee Choo.
• Other Authors: Chan, Sai Piu
• Format: Theses and Dissertations
• Published: 2010
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: http://hdl.handle.net/10356/38993
• Institution: Nanyang Technological University

This thesis describes the control of a robotic system for an assembly task of in-serting a printed circuit board (PCB) into an edge connector socket using a selec-tive compliance assembly robot arm (SCARA) robot. The insertion task involves compliant manipulation in which a substantial force is need...