Insertions Using Geometric Analysis and Hybrid Force-Position Control on a PUMA 560 with VAL II

Book One

Volume

Proceedings of the AAAI Conference on Artificial Intelligence, 6

Robotics

Automatic programming of insertions is an essential step in achieving a truly flexible manufacturing environment. We present techniques based on active compliance implemented with hybrid force-position control capable of inserting a wide variety of shaped pegs. These techniques provide a significant step towards an automatically programmed flexible manufacturing environment.