Generalized impedance control of a SCARA robot for assembly tasks

• 主要作者: Meng, Yan.
• 其他作者: Chan, Sai Piu
• 格式: Theses and Dissertations
• 出版: 2010
• 主題: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• 在線閱讀: http://hdl.handle.net/10356/39017

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...