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A variable compliance controller for cooperative vision guided robotic assembly


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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dc.contributor.author Ruybal, Kevin
dc.date.accessioned 2011-07-01T22:44:39Z
dc.date.available 2011-07-01T22:44:39Z
dc.date.issued 2011-07-01
dc.date.submitted May 2011
dc.identifier.uri http://hdl.handle.net/1928/12818
dc.description.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. en_US
dc.description.sponsorship U.S. Department of Energy en_US
dc.language.iso en_US en_US
dc.subject Robotic Assembly en_US
dc.subject Manufacturing en_US
dc.subject Impedance Control en_US
dc.subject Peg and Hole en_US
dc.subject Coupled Stability en_US
dc.subject Remote Center Compliance en_US
dc.subject Variable Compliance Controller en_US
dc.subject.lcsh Manipulators (Mechanism)--Automatic control.
dc.subject.lcsh Assembling machines--Automatic control.
dc.subject.lcsh Manipulators (Mechanism)--Optical equipment.
dc.subject.lcsh Feedback control systems.
dc.title A variable compliance controller for cooperative vision guided robotic assembly en_US
dc.type Thesis en_US
dc.description.degree Mechanical Engineering en_US
dc.description.level Masters en_US
dc.description.department University of New Mexico. Dept. of Mechanical Engineering en_US
dc.description.advisor Lumia, Ronald
dc.description.committee-member Ebrahimi, Nader
dc.description.committee-member Russell, John

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