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Proceedings Paper

Robotic Assembly Using A Vibratory Interference Sensor
Author(s): G.Dudley Shepard; Stuart Smith; Steven Christensen; Richard Lu
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Paper Abstract

To avoid jamming during robot assisted assembly, the forces and moments induced by centering and alignment errors must be limited. A strategy is presented which incorporates feedback information from a vibratory interference sensor into the robot position control loop. A digital search algorithm is used to reduce the centering errors and and to assemble the mating parts.

Paper Details

Date Published: 27 March 1987
PDF: 6 pages
Proc. SPIE 0726, Intelligent Robots and Computer Vision V, (27 March 1987); doi: 10.1117/12.937749
Show Author Affiliations
G.Dudley Shepard, University of Lowell (United States)
Stuart Smith, University of Lowell (United States)
Steven Christensen, University of Lowell (United States)
Richard Lu, University of Lowell (United States)

Published in SPIE Proceedings Vol. 0726:
Intelligent Robots and Computer Vision V
David P. Casasent, Editor(s)

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