Generalized impedance control of a SCARA robot for assembly tasks

Generalized impedance control of a SCARA robot for assembly tasks

This thesis describes the control of a robotic system for an assembly task of inserting a printed circuit board (PCB) horizontally into an edge connector socket using a selective compliance assembly robot arm (SCARA) robot. The insertion task involves compliant manipulation in which a substantial fo...

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Bibliographic Details
Main Author: Meng, Yan.
Other Authors: Chan, Sai Piu
Format: Thesis
Published: 2010
Subjects:
DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Online Access:http://hdl.handle.net/10356/39017

Internet

http://hdl.handle.net/10356/39017

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