Autonomous alignment of peg and hole by force/torque measurement for robotic assembly.
Te TangHsien-Chung LinYu ZhaoWenjie ChenMasayoshi TomizukaPublished in: CASE (2016)
Keyphrases
- contact force
- position control
- robotic systems
- robotic manipulator
- robotic tasks
- control scheme
- force control
- master slave
- closed loop
- tactile sensing
- external forces
- feedback loop
- finite element model
- control system
- cooperative
- finite element analysis
- control strategies
- control algorithm
- dynamic model
- image alignment
- autonomous learning
- control strategy
- visually guided
- robot arm
- end effector
- force feedback
- image registration
- state space
- mobile robot