DISCRETE COMPLIANT MOTION PLANNING SYSTEM FOR ROBOTIC ASSEMBLY

DISCRETE COMPLIANT MOTION PLANNING SYSTEM FOR ROBOTIC ASSEMBLY

This dissertation focuses on compliant motion planning designed for robotic assembly. A Discrete Complaint Motion Planner (DCMP) reacts to detected discrete contact state transitions and issues compliant motion command to the underlying continuous robot system. It consists of a Qualitative Contact M...

Full description

Bibliographic Details
Main Author: Yang, Fan
Other Authors: Marefat, Michael M.
Language:EN
Published: The University of Arizona. 2009
Subjects:
compliant motion planning
contact model
contact states
motion command
motion strategy
robotic assembly
Online Access:http://hdl.handle.net/10150/195237

Internet

http://hdl.handle.net/10150/195237

Similar Items