Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/39017
Title: Generalized impedance control of a SCARA robot for assembly tasks
Authors: Meng, Yan.
Keywords: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Issue Date: 1997
Abstract: This thesis describes the control of a robotic system for an assembly task of inserting a printed circuit board (PCB) horizontally into an edge connector socket using a selective compliance assembly robot arm (SCARA) robot. The insertion task involves compliant manipulation in which a substantial force is needed to accomplish the insertion operation. Due to dynamic constraints from the environment, this task is quite demanding and is adopted in the research as a common test-bed to evaluate the performance of various proposed control schemes. The purpose is to identify an effective control technique for this application and hope that the findings can be extended to other assembly tasks of similar nature.
URI: http://hdl.handle.net/10356/39017
Rights: NANYANG TECHNOLOGICAL UNIVERSITY
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:EEE Theses

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