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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.
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)

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