Vision based compliant motion control for part assembly


In this paper, we propose a vision based compliant motion control method for part assembly work. Some industrial parts are deformed during assembly of parts. If work progress continues, deformation of the part increases, humans check the deformation and adjust force corresponding to the progress state. The proposed method enables a robot manipulator to… (More)
DOI: 10.1109/IROS.2013.6696367


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