ML Anthology

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

David R. Strip
AAAI 1987 pp. 695-699
/aaai/1987/strip1987aaai-insertions/

Abstract

Automatk 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.

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Cite

Text

Strip. "Insertions Using Geometric Analysis and Hybrid Force-Position Control on a PUMA 560 with VAL II." AAAI Conference on Artificial Intelligence, 1987.

Markdown

[Strip. "Insertions Using Geometric Analysis and Hybrid Force-Position Control on a PUMA 560 with VAL II." AAAI Conference on Artificial Intelligence, 1987.](https://mlanthology.org/aaai/1987/strip1987aaai-insertions/)

BibTeX

@inproceedings{strip1987aaai-insertions,
  title     = {{Insertions Using Geometric Analysis and Hybrid Force-Position Control on a PUMA 560 with VAL II}},
  author    = {Strip, David R.},
  booktitle = {AAAI Conference on Artificial Intelligence},
  year      = {1987},
  pages     = {695-699},
  url       = {https://mlanthology.org/aaai/1987/strip1987aaai-insertions/}
}