Insertions Using Geometric Analysis and Hybrid Force-Position Control: Method and Analysis

摘要

Automatic programming of insertions is an essential step in achieving a truly flexible manufacturing environment. We present techniques based on active compliance implemented with hybrid force-position control which are capable of inserting a wide variety of shaped pegs. We analyze the forces encountered during the insertions to determine what classes of shapes these techniques will consistently insert. The analysis also gives guidance in selecting parameters of these techniques for specific shapes. These techniques provide a significant step towards an automatically programmed flexible manufacturing environment. 9 refs., 7 figs. (ERA citation 13:024871)