We are not able to resolve this OAI Identifier to the repository landing page. If you are the repository manager for this record, please head to the Dashboard and adjust the settings.
In this paper, we consider folding assembly as an assembly primitive suitable for dual-arm robotic assembly, that can be integrated in a higher level assembly strategy. The system composed by two pieces in contact is modelled as an articulated object, connected by a prismatic-revolute joint. Different grasping scenarios were considered in order to model the system, and a simple controller based on feedback linearisation is proposed, using force torque measurements to compute the contact point kinematics. The folding assembly controller has been experimentally tested with two sample parts, in order to showcase folding assembly as a viable assembly primitive
Is data on this page outdated, violates copyrights or anything else? Report the problem now and we will take corresponding actions after reviewing your request.