Robotized peg-in-hole task involving the needle-like and pill-like objects with tight tolerances

@article{Borovac2001RobotizedPT,
  title={Robotized peg-in-hole task involving the needle-like and pill-like objects with tight tolerances},
  author={Branislav Borovac and Laszlo F. Nagy and Edvard Begovic and Milutin Nikolic and Aleksandar Popadic and Dejan Andric},
  journal={Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)},
  year={2001},
  volume={3},
  pages={2255-2260 vol.3}
}
  • B. Borovac, L. Nagy, D. Andric
  • Published 21 May 2001
  • Computer Science
  • Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)
Handling and assembly of the needle-like and pill-like objects is a delicate task, particularly if tight clearances are involved. In both cases the key issue is a compromise between the opposite requirements of holding firmly the object and, at same time, allowing it to have the adequate properties of passive compliance. In this paper we describe our approach to achieving this for both type of objects using the sensors with soft contact surfaces (SwSCS). For insertion of needle-like objects we… 
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