Generalized impedance control of a SCARA robot for assembly tasks

Generalized impedance control of a SCARA robot for assembly tasks

This thesis describes the control of a robotic system for an assembly task of inserting a printed circuit board (PCB) horizontally into an edge connector socket using a selective compliance assembly robot arm (SCARA) robot. The insertion task involves compliant manipulation in which a substantial fo...

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Main Author: Meng, Yan.
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/10356/39017
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Institution: Nanyang Technological University
id sg-ntu-dr.10356-39017
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spelling sg-ntu-dr.10356-390172023-07-04T15:27:23Z Generalized impedance control of a SCARA robot for assembly tasks Meng, Yan. 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 inserting a printed circuit board (PCB) horizontally into an edge connector socket using a selective 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 2010-05-21T03:45:16Z 2010-05-21T03:45:16Z 1997 1997 Thesis http://hdl.handle.net/10356/39017 NANYANG TECHNOLOGICAL UNIVERSITY 133 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
Meng, Yan.
Generalized impedance control of a SCARA robot for assembly tasks
description This thesis describes the control of a robotic system for an assembly task of inserting a printed circuit board (PCB) horizontally into an edge connector socket using a selective 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
Meng, Yan.
format Theses and Dissertations
author Meng, Yan.
author_sort Meng, Yan.
title Generalized impedance control of a SCARA robot for assembly tasks
title_short Generalized impedance control of a SCARA robot for assembly tasks
title_full Generalized impedance control of a SCARA robot for assembly tasks
title_fullStr Generalized impedance control of a SCARA robot for assembly tasks
title_full_unstemmed Generalized impedance control of a SCARA robot for assembly tasks
title_sort generalized impedance control of a scara robot for assembly tasks
publishDate 2010
url http://hdl.handle.net/10356/39017
_version_ 1772828299339235328

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