Abstract:Two control problems encountered in robotic sheet metal assembly are addressed in this paper. They are the control of vibration when handling the sheet metal parts and the control of the contact state between the parts during assembly. For the first problem, a Learning Extremum Controller (LEC) is proposed. Using a strain gauge based sensing device mounted on the robot gripper for vibration feedback, the orientation of the part relative to its path is controlled to reduce vibration. For the second problem, a s… Show more
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