Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/141098
Title: Robotic assembly with robust force controllers
Authors: Lee, Wilson Ying Jun
Keywords: Engineering::Aeronautical engineering
Issue Date: 2020
Publisher: Nanyang Technological University
Project: C016 
Abstract: Active Force Control (AFC) is an important scheme for tackling high-precision robotic assembly. Classical force controllers are highly surface-dependent: the controller must be carefully tuned for each type of surface in contact, in order to avoid instabilities and to achieve a reasonable performance level. In this paper, we build upon the recently-developed Convex Controller Synthesis (CCS) to enable high-precision assembly across a wide range of surface stiffnesses without any surface-dependent tuning. Specifically, we demonstrate peg-in-hole assembly with 100 micron clearance, initial position uncertainties up to 2 cm, and for four types of peg and hole materials – rubber, plastic, wood, aluminum – whose stiffnesses range from 10 to 100 N/mm, using a single controller.
URI: https://hdl.handle.net/10356/141098
Schools: School of Mechanical and Aerospace Engineering 
Research Centres: Robotics Research Centre 
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:MAE Student Reports (FYP/IA/PA/PI)

Files in This Item:
File Description SizeFormat 
FYP_wilson_final.pdf
  Restricted Access
2.14 MBAdobe PDFView/Open

Page view(s)

290
Updated on May 16, 2024

Download(s) 50

36
Updated on May 16, 2024

Google ScholarTM

Check

Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.