Compliant Control of Threaded Fastener Insertion

Controlled compliance and accommodation matrix techniques are considered for robust insertion of threaded fasteners. Errors in translational positioning are shown to be easily corrected. Errors in the angle of tilt between the threaded parts are shown to be much more di cult to correct and constrain the region of convergence for simple linear techniques.

• Type: Conference
• Year: 1993
• Where: ICRA
• Authors: Edward J. Nicolson, Ronald S. Fearing
• Keywords: Accommodation Matrix Techniques, ICRA 1993, Robotics, Simple Linear Techniques, Threaded Fasteners