Modelling and continuous stiffness control of robot with compliant wrist for misalignment shaft-hole assembly
In this paper, a continuously variable stiffness control strategy for shaft-hole assembly with a compliant wrist is proposed. The compliant wrist adjusts stiffness by changing the cantilever length of a super-elastic Ni-Ti wire. Its core idea is that when the contact force of the robot exceeds a par...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2024-01-01
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| Series: | Measurement + Control |
| Online Access: | https://doi.org/10.1177/00202940221090970 |