配电维护机器人系统的实验——选择参数为配电维护机器人系统插入螺栓

2011 International Symposium on Micro-NanoMechatronics and Human Science Pub Date : 2011-12-15 DOI:10.1109/MHS.2011.6102205

Takahiro Kataoka, Kazuki Aoyama, N. Maekawa, Yusuke Yamamoto, Masayuki Naito, K. Tatsuno

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引用次数: 0

摘要

介绍配电维护任务中如何插入螺栓。目前的系统在CG(计算机图形)和真实环境之间有大约1厘米的边际误差。握住螺栓的手臂在位置控制下接近螺栓孔上方的位置，并在顺应控制下插入螺栓。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Experiments on power distribution maintenance robot system-Select parameter to insert a bolt on power distribution maintenance robot system

This paper describes how to insert a bolt in power distribution maintenance tasks. The present system has about 1 cm margin error between CG (computer graphic) and real environment. The arm holding the bolt approaches to the position above a bolt hole under position control and inserts the bolt under compliance control.

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2011 International Symposium on Micro-NanoMechatronics and Human Science

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