Compliant Peg-in-Hole Assembly Using Partial Spiral Force Trajectory With Tilted Peg Posture
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DOI: 10.1109/lra.2020.3000428
Abstract: The peg-in-hole method using the compliance characteristics of robots has advantages in terms of cost and speed compared to conventional methods based on contact force feedback with force/torque sensors. In our previous study, we proposed… read more here.
Keywords: peg hole; force trajectory; method; force ... See more keywords