Control of robot manipulator complianceRobotic assembly operations such as mating and fastening of parts are more successful if the robot manipulator compliance can be controlled so that various coordinates are free to comply with external constraints. This paper presents the design of a hybrid controller to provide active compliance to a six-degree-of-freedom robot built at NASA/GSFC using force and position feedback. Simulation results of a 2 degree-of-freedom model is presented and discussed.
Document ID
19870058523
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Nguyen, Charles C. (Catholic Univ. of America Washington, DC, United States)
Pooran, Farhad J. (Catholic University of America, Washington, DC, United States)
Premack, Timothy (NASA Goddard Space Flight Center Greenbelt, MD, United States)