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• W2070978437 abstract "Abstract The paper addresses the control of an automatic assembly process represented by the typical operation of peg-in-hole insertion. The control problem is to track a prespecified trajectory defined by the peg position and orientation relative to the hole location (nominal control). The problem is compounded by the assumption that misalignment and variation in system parameters may occur such that the nominal control must be complemented with a synthesis which regulates the perturbed stage of the system. The regulation is achieved using a robust servomechanism approach and a force feedback approach. The two approaches are illustrated using simulation results." @default.
• W2070978437 created "2016-06-24" @default.
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• W2070978437 date "1986-01-01" @default.
• W2070978437 modified "2023-09-27" @default.
• W2070978437 title "Synthesis of robot control for assembly processes" @default.
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• W2070978437 doi "https://doi.org/10.1016/0094-114x(86)90029-7" @default.
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