Titlebook: Vision Based Identification and Force Control of Industrial Robots; Abdullah Aamir Hayat,Shraddha Chaudhary,Santanu Ch Book 2022 The Edito

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Identification,h the kinematic parameter namely the DH parameters and dynamic parameters, namely, mass, moment of inertia and inertia. Estimation of these parameters which are important for the control and simulation is the focus of this chapter. The inverse dynamic modeling using the concept of the Decouple Natur

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Force Control and Assembly,sented is a generic way that makes it possible to do assembly task in a safe manner. This also makes the robot compliant in the presence of an obstruction which applies a reaction force greater than what is expected based on the already identified dynamic model as detailed in previous chapter. A sim

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Conclusion,tured environments. However, a significant impediment to the proliferation of these techniques is the lack of reliable visual and force feedback and suitable fusion of these multiple modes of data to allow the robot to perceive and adapt to the external environment. This monograph presented two exam

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Force Control and Assembly,. Force control becomes a prerequisite when it comes to performing any contact-based task using a robot so that the inaccuracy in the robot’s end-effector position or any uncertain changes in its environment could be dealt with ease. The detailed approach for the assembly task, namely, peg-in-tube is discussed.