dc.contributor.author |
Rout, Bijay Kumar |
|
dc.contributor.author |
Marathe, Amol |
|
dc.date.accessioned |
2023-09-04T10:05:03Z |
|
dc.date.available |
2023-09-04T10:05:03Z |
|
dc.date.issued |
2022-06 |
|
dc.identifier.uri |
https://www.emerald.com/insight/content/doi/10.1108/ir-09-2021-0197/full/html |
|
dc.identifier.uri |
http://dspace.bits-pilani.ac.in:8080/xmlui/handle/123456789/11846 |
|
dc.description.abstract |
Industrial robots are extensively deployed to perform repetitive and simple tasks at high speed to reduce production time and improve productivity. In most cases, a compliant gripper is used for assembly tasks such as peg-in-hole assembly. A compliant mechanism in the gripper introduces flexibility that may cause oscillation in the grasped object. Such a flexible gripper–object system can be considered as an under-actuated object held by the gripper and the oscillations can be attributed to transient disturbance of the robot itself. The commercially available robots do not have a control mechanism to reduce such induced vibration. Thus, this paper aims to propose a contactless vision-based approach for vibration suppression which uses a predictive vibrational amplitude error-based second-stage controller. |
en_US |
dc.language.iso |
en |
en_US |
dc.publisher |
Emerald |
en_US |
dc.subject |
Mechanical Engineering |
en_US |
dc.subject |
Vibration control |
en_US |
dc.subject |
Robotic assembly |
en_US |
dc.subject |
Flexible gripper |
en_US |
dc.subject |
Vibratrion suppression |
en_US |
dc.subject |
Second-stage controller |
en_US |
dc.title |
Vision sensor based residual vibration suppression strategy of non-deformable object for robot-assisted assembly operation with gripper flexibility |
en_US |
dc.type |
Article |
en_US |