Generalized impedance control of a SCARA robot for assembly tasks

• 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
• Institution: Nanyang Technological University

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...