ETD system

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Tesi etd-09172012-171953


Thesis type
Tesi di laurea specialistica
Author
BALLETTI, LEONARDO
URN
etd-09172012-171953
Title
Stiffness Control in Robotic Assembly Tasks
Struttura
INGEGNERIA
Corso di studi
INGEGNERIA DELLA AUTOMAZIONE
Commissione
relatore Prof. Bicchi, Antonio
controrelatore Prof. Gabiccini, Marco
relatore Grioli, Giorgio
relatore Ing. Catalano, Manuel Giuseppe
relatore Garabini, Manolo
Parole chiave
  • Interaction Control
  • Insertion depth
  • Impedance Control
  • Assembly tasks
  • Peg in Hole
  • Stiffness Selection
  • Robotic Assembly
  • VSA
Data inizio appello
05/10/2012;
Consultabilità
completa
Riassunto analitico
The peg in hole problem has been heavily studied in literature as a simple model to analyze assembly scenarios. Due to advances in robotic hardware and research on robots which are safe to humans, many of the models and simplifications present in literature don't apply anymore or present poor approximations for modern robots with impedance controllers. In the following work the problem of a peg-in-hole insertion with a impedance controlled robot will be tackled, and simple rules to choose optimal cartesian stiffnesses are presented. The same rules are then applied to solve the problem of optimizing stiffnesses for a VSA robot, where a desired cartesian stiffness cannot generally be obtained. A method to chose weights for the simple weighted minimization of the distance between the desired and obtained cartesian stiffnesses is then proposed, and the results of both approaches are compared by using a robot with deboupled joint stiffness control. Lastly, results of a bimanual insertion using a real VSA robot are proposed.
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