A force control for a peg-hole system in assembly technology
In this paper, the problem of a mated-piece inser- tion is examined due to the current search for precision in the process of fitting. When the required precision is so high that the machine vision is no longer useful, it is necessary to control the force, distinctively in the operations where the gap is narrow such as gear matching, machine tooling or special automation. Thinking about that objective, a peg-hole model was developed in Matlab based on both, the geometric deformation of the sensor, and another passive element for calculating the reaction forces, which are present in the mating process.Once the peg-hole model is implemented, it is possible to develop a force control for the reference position of the robot’s final point. The f... Ver más
2015-12-13
http://purl.org/coar/access_right/c_abf2
info:eu-repo/semantics/openAccess
