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A compliant control method for disassembly of non-elastic parts using realised motion

Published online by Cambridge University Press:  09 March 2009

Yagmur Denizhan
Yagmur Denizhan
Affiliation:
Department of Electrical & Electronics Engineering, Bogazici University, 80815 Bebek-Istanbul (Turkey)
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Summary

In disassembly tasks, due to the large variety of objects and the different positions and orientations in which they appear, the disassembly trajectories supplied on-line by a human operator or an automatic recognition system can contain large errors. The classical compliant control methods turn out to be insufficient to eliminate sticking which is due to these errors. This paper presents a compliant control method for disassembly of non-elastic parts in non-elastic environments which adopts the trajectories according to realised motion. In case of sticking a new direction of motion is searched for until the manipulated part is set into motion.

Keywords

Compliant controlRealised motionCompliance frame alignmentDirection search
Type
Articles
Information
Robotica , Volume 13 , Issue 6 , November 1995 , pp. 591 - 598
Copyright
Copyright © Cambridge University Press 1995

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