Engineering Commons^™

Admittance Selection For Force Guided Assembly With Optimal Motion, Fernando Rodriguez Anton

Master's Theses (2009 -)

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Current robots lack the precise relative positioning necessary to complete automatic assembly tasks. Several solutions have been proposed. Some approaches use complex vision and force sensing systems to generate corrective motion if misalignment is present in the assembly task. Other solutions rely on generating elastic behavior, known as compliance, between the end eector and the held movable part. This compliant mechanism helps guide the movable part of the assembly into its proper position. The project focuses on designing a process by which passive compliant systems can achieve successful assembly for a range of misalignment and generate error-reducing motion that …