Robust impedance control for robot manipulators.
Date of Issue1999
School of Electrical and Electronic Engineering
This thesis describes the development and implementation of robust impedance control to perform an assembly task of inserting a printed circuit board (PCB) into an edge connector socket using a multi-joint robot. The insertion task involves compliant manipulation in which a substantial force is needed to accomplish the insertion operation. Due to dynamic constraints from the environment, this task is quite demanding and is adopted in the research as a common test-bed to evaluate the performance of robust control schemes with those of model-based control laws. The purpose is to identify an effective control technique for this application and hope that the findings can be extended to other assembly tasks of similar nature.
DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Nanyang Technological University