Nested compliant admittance control for robotic mechanical assembly of misaligned and tightly toleranced parts

Nicky Mol; Jan Smisek; Robert Babuska; Andre Schiele

doi:10.1109/SMC.2016.7844650

Nested compliant admittance control for robotic mechanical assembly of misaligned and tightly toleranced parts

Nicky Mol, Jan Smisek, Robert Babuska, Andre Schiele

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

19 Citations (Scopus)

Abstract

In this paper, we propose a closed-loop force sensor based nested admittance/impedance control strategy to actively estimate and minimize the effects of geometric misalignment that naturally occur during assembly tasks with compliant robots. The method allows the robot to be used with a stiff impedance control setting, which is beneficial for free air motion performance, yet allows to adjust for large misalignment errors between parts that need be assembled.

Original language	English
Title of host publication	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
Place of Publication	Piscataway, NJ, USA
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	2717-2722
ISBN (Electronic)	9781509018970
DOIs	https://doi.org/10.1109/SMC.2016.7844650
Publication status	Published - 2016
Event	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Budapest, Hungary Duration: 9 Oct 2016 → 12 Oct 2016

Conference

Conference	2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016
Country/Territory	Hungary
City	Budapest
Period	9/10/16 → 12/10/16

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10.1109/SMC.2016.7844650

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Mol, N., Smisek, J., Babuska, R., & Schiele, A. (2016). Nested compliant admittance control for robotic mechanical assembly of misaligned and tightly toleranced parts. In 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings (pp. 2717-2722). Article 7844650 Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/SMC.2016.7844650

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title = "Nested compliant admittance control for robotic mechanical assembly of misaligned and tightly toleranced parts",

abstract = "In this paper, we propose a closed-loop force sensor based nested admittance/impedance control strategy to actively estimate and minimize the effects of geometric misalignment that naturally occur during assembly tasks with compliant robots. The method allows the robot to be used with a stiff impedance control setting, which is beneficial for free air motion performance, yet allows to adjust for large misalignment errors between parts that need be assembled.",

author = "Nicky Mol and Jan Smisek and Robert Babuska and Andre Schiele",

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booktitle = "2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings",

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note = "2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 ; Conference date: 09-10-2016 Through 12-10-2016",

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Mol, N, Smisek, J, Babuska, R & Schiele, A 2016, Nested compliant admittance control for robotic mechanical assembly of misaligned and tightly toleranced parts. in 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings., 7844650, Institute of Electrical and Electronics Engineers (IEEE), Piscataway, NJ, USA, pp. 2717-2722, 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016, Budapest, Hungary, 9/10/16. https://doi.org/10.1109/SMC.2016.7844650

Nested compliant admittance control for robotic mechanical assembly of misaligned and tightly toleranced parts. / Mol, Nicky; Smisek, Jan; Babuska, Robert et al.
2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings. Piscataway, NJ, USA: Institute of Electrical and Electronics Engineers (IEEE), 2016. p. 2717-2722 7844650.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AB - In this paper, we propose a closed-loop force sensor based nested admittance/impedance control strategy to actively estimate and minimize the effects of geometric misalignment that naturally occur during assembly tasks with compliant robots. The method allows the robot to be used with a stiff impedance control setting, which is beneficial for free air motion performance, yet allows to adjust for large misalignment errors between parts that need be assembled.

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BT - 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings

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Mol N, Smisek J, Babuska R, Schiele A. Nested compliant admittance control for robotic mechanical assembly of misaligned and tightly toleranced parts. In 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings. Piscataway, NJ, USA: Institute of Electrical and Electronics Engineers (IEEE). 2016. p. 2717-2722. 7844650 doi: 10.1109/SMC.2016.7844650

Nested compliant admittance control for robotic mechanical assembly of misaligned and tightly toleranced parts

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