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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| Format: | Thesis |
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2010
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| Online Access: | http://hdl.handle.net/10356/39017 |
| _version_ | 1826128856130519040 |
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| author | Meng, Yan. |
| author2 | Chan, Sai Piu |
| author_facet | Chan, Sai Piu Meng, Yan. |
| author_sort | Meng, Yan. |
| collection | NTU |
| description | 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 force is needed to accomplish the insertion operation. Due to dynamic constraints from the environment, this task is quite demanding and is adopted in the research as a common test-bed to evaluate the performance of various proposed control schemes. The purpose is to identify an effective control technique for this application and hope that the findings can be extended to other assembly tasks of similar nature. |
| first_indexed | 2024-10-01T07:31:22Z |
| format | Thesis |
| id | ntu-10356/39017 |
| institution | Nanyang Technological University |
| last_indexed | 2024-10-01T07:31:22Z |
| publishDate | 2010 |
| record_format | dspace |
| spelling | ntu-10356/390172023-07-04T15:27:23Z Generalized impedance control of a SCARA robot for assembly tasks Meng, Yan. Chan, Sai Piu School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics 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 force is needed to accomplish the insertion operation. Due to dynamic constraints from the environment, this task is quite demanding and is adopted in the research as a common test-bed to evaluate the performance of various proposed control schemes. The purpose is to identify an effective control technique for this application and hope that the findings can be extended to other assembly tasks of similar nature. Master of Engineering 2010-05-21T03:45:16Z 2010-05-21T03:45:16Z 1997 1997 Thesis http://hdl.handle.net/10356/39017 NANYANG TECHNOLOGICAL UNIVERSITY 133 p. application/pdf |
| spellingShingle | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Meng, Yan. Generalized impedance control of a SCARA robot for assembly tasks |
| title | Generalized impedance control of a SCARA robot for assembly tasks |
| title_full | Generalized impedance control of a SCARA robot for assembly tasks |
| title_fullStr | Generalized impedance control of a SCARA robot for assembly tasks |
| title_full_unstemmed | Generalized impedance control of a SCARA robot for assembly tasks |
| title_short | Generalized impedance control of a SCARA robot for assembly tasks |
| title_sort | generalized impedance control of a scara robot for assembly tasks |
| topic | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics |
| url | http://hdl.handle.net/10356/39017 |
| work_keys_str_mv | AT mengyan generalizedimpedancecontrolofascararobotforassemblytasks |