Force-Controlled Robotic Assembly Processes of Rigid and Flexible Objects

This book provides comprehensive and integrated approaches for rigid and flexible object assembly. It presents comparison studies with the available force-guided robotic processes and covers contact-state modeling, scheme control strategies, and position searching algorithms. Further, it includes experimental validations for different assembly situations, including those for the assembly of industrial parts taken from the automotive industry.

Covers integrated approaches for rigid and flexible assembly Offers comparison studies on force-guided robotic processes Broadens readers' understanding of industrial assembly using robotics Includes supplementary material: sn.pub/extras

Inhalt

Introduction.- Contact-State Modeling.- Control of Unknown Switched-Constraints Robots.- Position Uncertainty Accommodation.- Experimental Validations.- Industrial Applications.- Conclusion and Recommendations for Future Works.- Appendices.