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  • The concept of peg-in-hole insertion with a "Smart" Remote Centre of Compliance
    Perme, Tomaž, 1963- ; Herakovič, Niko ; Noe, Dragica
    The insertion process performed by a robot can be affected by errors in the assembled parts and/or the assembly equipment. To avoid having to stop the assembly process and to prevent damage it is ... desirable to introduce a Remote Centre of Compliance (RCC) or force and torque (F/T) sensors, as part of a robot-control system. Each of these possibilities has both benefits as well as drawbacks. Our idea was to combine the benefits of the RCC and adaptive control with F/T sensors by using "smart actuators" (SAs). A SA is a piezoelectric actuator which offers the possibility of having the actuator, force sensor and the position sensor in a single piece. In this way we have developed a so-called "Smart" Remote Centre of Compliance, where the "smart actuator" isused for sensing and carrying out the necessary movements. We have developed a prototype and completed some preliminary tests.
    Vir: Final program & abstracts (Str. 31)
    Vrsta gradiva - prispevek na konferenci
    Leto - 2001
    Jezik - angleški
    COBISS.SI-ID - 4945179

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