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dc.contributor.authorRuybal, Kevin
dc.date.accessioned2011-07-01T22:44:39Z
dc.date.available2011-07-01T22:44:39Z
dc.date.issued2011-07-01
dc.date.submittedMay 2011
dc.identifier.urihttp://hdl.handle.net/1928/12818
dc.description.abstractSuccessful peg and hole insertion systems allow the peg to translate and rotate to accommodate contact forces that arise from different contact states between the peg and hole during assembly. Typically, a position or force controlled robotic insertion system is fitted with a specialized mechanically compliant wrist, known as a remote center compliance (RCC) device, to allow the system to accommodate the forces. Using design principles similar to those developed for the RCC, a variable compliance control system is produced in this thesis. This control system allows a dual seven degree of freedom robotic arm system to cooperatively perform rigid peg and hole assembly with human-like performance at a 100% success rate without the use of mechanically compliant attachments. Additionally, a novel finite state machine with visual feedback is developed to improve the positional accuracy of the robots’ impedance controllers and boost the reliability and performance of the entire system. Finally, a unique design process is developed to obtain the optimum variable compliance controller control law equations with respect to task success, reliability, and coupled robotic arm stability.en_US
dc.description.sponsorshipU.S. Department of Energyen_US
dc.language.isoen_USen_US
dc.subjectRobotic Assemblyen_US
dc.subjectManufacturingen_US
dc.subjectImpedance Controlen_US
dc.subjectPeg and Holeen_US
dc.subjectCoupled Stabilityen_US
dc.subjectRemote Center Complianceen_US
dc.subjectVariable Compliance Controlleren_US
dc.subject.lcshManipulators (Mechanism)--Automatic control.
dc.subject.lcshAssembling machines--Automatic control.
dc.subject.lcshManipulators (Mechanism)--Optical equipment.
dc.subject.lcshFeedback control systems.
dc.titleA variable compliance controller for cooperative vision guided robotic assemblyen_US
dc.typeThesisen_US
dc.description.degreeMechanical Engineeringen_US
dc.description.levelMastersen_US
dc.description.departmentUniversity of New Mexico. Dept. of Mechanical Engineeringen_US
dc.description.advisorLumia, Ronald
dc.description.committee-memberEbrahimi, Nader
dc.description.committee-memberRussell, John


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