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Author Matsuno, F. ♦ Kisoi, M.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1996
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations
Subject Keyword Computational intelligence ♦ Earthquake engineering ♦ Educational institutions ♦ Control systems ♦ Assembly systems ♦ Force control ♦ Impedance ♦ Humans
Abstract In this paper, task understanding and control strategies for beam-in-hole as a simple example of assembly of flexible parts are discussed. Beam-in-hole means insertion of a flexible beam into a hole. We assume the initial condition that only the tip of the flexible beam is in contact with the side of the hole. In the beam-in-hole task, the beam is regarded is a constrained flexible beam with an axial force. A distributed parameter model is derived for analysis of the beam-in-hole task. A condition for achieving the insertion is derived. A set of simulation has been carried out for ensuring the task understanding for the beam-in-hole.
Description Author affiliation: Dept. of Comput. Intelligence & Syst. Sci., Tokyo Inst. of Technol., Japan (Matsuno, F.)
ISBN 0780332806
ISSN 1062922X
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1996-10-14
Publisher Place China
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 477.88 kB
Page Count 6
Starting Page 1724
Ending Page 1729


Source: IEEE Xplore Digital Library