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Proceedings Paper

A Control Law For The Insertion Of A Flexible, Cylindrical Peg Using A Robot
Author(s): Jean-Pierre Merlet
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Paper Abstract

This paper describes the mechanical behaviour of a flexible, cylindrical peg during it's insertion. Three cases are examined according to the displacement of the contact points. In each case, a jamming criterion is given and the state of the peg is determined using only the informations of the positionning system and the force sensor of the robot. The control law for the insertion is deduced from this analysis.

Paper Details

Date Published: 16 February 1984
PDF: 8 pages
Proc. SPIE 0449, Intelligent Robots: 3rd Intl Conf on Robot Vision and Sensory Controls, (16 February 1984); doi: 10.1117/12.939255
Show Author Affiliations
Jean-Pierre Merlet, INRIA Domaine de Voluceau-Rocquencourt (France)


Published in SPIE Proceedings Vol. 0449:
Intelligent Robots: 3rd Intl Conf on Robot Vision and Sensory Controls
David P. Casasent; Ernest L. Hall, Editor(s)

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