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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| Format: | Theses and Dissertations |
| Published: |
2010
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| Online Access: | http://hdl.handle.net/10356/39017 |
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| Institution: | Nanyang Technological University |