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A variable compliance controller for cooperative vision guided robotic assembly

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1928/12818

A variable compliance controller for cooperative vision guided robotic assembly

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Title: A variable compliance controller for cooperative vision guided robotic assembly
Author: Ruybal, Kevin
Advisor(s): Lumia, Ronald
Committee Member(s): Ebrahimi, Nader
Russell, John
Department: University of New Mexico. Dept. of Mechanical Engineering
Subject(s): Robotic Assembly
Manufacturing
Impedance Control
Peg and Hole
Coupled Stability
Remote Center Compliance
Variable Compliance Controller
LC Subject(s): Manipulators (Mechanism)--Automatic control.
Assembling machines--Automatic control.
Manipulators (Mechanism)--Optical equipment.
Feedback control systems.
Degree Level: Masters
Abstract: Successful 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.
Graduation Date: May 2011
URI: http://hdl.handle.net/1928/12818

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Kevin Ruybal Final Masters Thesis.pdf 2.292Mb PDF View/Open Complete Master's Thesis

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