Robotic Assembly Using A Vibratory Interference Sensor

G.Dudley Shepard; Stuart Smith; Steven Christensen; Richard Lu

doi:10.1117/12.937749

27 March 1987 Robotic Assembly Using A Vibratory Interference Sensor

G.Dudley Shepard, Stuart Smith, Steven Christensen, Richard Lu

Proceedings Volume 0726, Intelligent Robots and Computer Vision V; (1987) https://doi.org/10.1117/12.937749
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States

Abstract

To avoid jamming during robot assisted assembly, the forces and moments induced by centering and alignment errors must be limited. A strategy is presented which incorporates feedback information from a vibratory interference sensor into the robot position control loop. A digital search algorithm is used to reduce the centering errors and and to assemble the mating parts.

Citation Download Citation

G.Dudley Shepard, Stuart Smith, Steven Christensen, and Richard Lu "Robotic Assembly Using A Vibratory Interference Sensor", Proc. SPIE 0726, Intelligent Robots and Computer Vision V, (27 March 1987); https://doi.org/10.1117/12.937749

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