Kang, Sungchul Kim, Munsang Park, Shinsuk 2024-01-21T02:02:36Z 2024-01-21T02:02:36Z 2021-09-01 2006-12 1344-7653 https://pubs.kist.re.kr/handle/201004/134919 Robotic systems have been used to automate assembly tasks in manufacturing and in teleoperation. Conventional robotic systems, however, have been ineffective in controlling contact force in multiple contact states of complex assembly that involves interactions between complex-shaped parts. Unlike robots, humans excel at complex assembly tasks by utilizing their intrinsic impedance, forces and torque sensation, and tactile contact clues. By examining the human behavior in assembling complex parts, this study proposes a novel geometry-independent control method for robotic assembly using adaptive accommodation (or damping) algorithm. Two important conditions for complex assembly, target approachability and bounded contact force, can be met by the proposed control scheme. It generates target approachable motion that leads the object to move closer to a desired target position, while contact force is kept under a predetermined value. Experimental results from complex assembly tests have confirmed the feasibility and applicability of the proposed method. English JAPAN SOC MECHANICAL ENGINEERS Adaptive accommodation control method for complex assembly Article 10.1299/jsmec.49.994 1 JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING, v.49, no.4, pp.994 - 1002 JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING 49 4 994 1002 scie scopus 000243737500004 2-s2.0-34548069197 Engineering, Manufacturing Engineering, Mechanical Engineering Article complex assembly adaptive accommodation control target approachability bounded contact force expanded admissible motion space