Control of robot manipulators for assembly tasks

Control of robot manipulators for assembly tasks

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...

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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
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Institution: Nanyang Technological University
id sg-ntu-dr.10356-38993
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spelling sg-ntu-dr.10356-389932023-07-04T16:03:22Z Control of robot manipulators for assembly tasks Liaw, Hwee Choo. Chan, Sai Piu School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics 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 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 various proposed control schemes. 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. Master of Engineering 2010-05-21T03:39:09Z 2010-05-21T03:39:09Z 1997 1997 Thesis http://hdl.handle.net/10356/38993 NANYANG TECHNOLOGICAL UNIVERSITY 140 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
topic DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
spellingShingle DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Liaw, Hwee Choo.
Control of robot manipulators for assembly tasks
description 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 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 various proposed control schemes. 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.
author2 Chan, Sai Piu
author_facet Chan, Sai Piu
Liaw, Hwee Choo.
format Theses and Dissertations
author Liaw, Hwee Choo.
author_sort Liaw, Hwee Choo.
title Control of robot manipulators for assembly tasks
title_short Control of robot manipulators for assembly tasks
title_full Control of robot manipulators for assembly tasks
title_fullStr Control of robot manipulators for assembly tasks
title_full_unstemmed Control of robot manipulators for assembly tasks
title_sort control of robot manipulators for assembly tasks
publishDate 2010
url http://hdl.handle.net/10356/38993
_version_ 1772825964002148352

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