%0 Journal Article
%T Peg-in-hole insertion method based on adaptive impedance control<br>基于自适应阻抗控制的轴孔装配方法
%A LU Jun
%A YAN Jing-ping
%A CHEN Jun-jie
%A <br>芦　俊
%A 颜景平
%A 陈俊杰
%J 控制理论与应用
%D 2003
%I 
%X A peg-in-hole insertion method based on adaptive impedance control is presented. The reference position of robot end-effector is modified according to force information through adaptation law, which makes the peg move in the direction that reduces jamming forces, and finally the insertion is accomplished. This method is simple and the modification can be computed on-line, so it satisfies the requirement of real-time control. Simulation results are given to verify its effectiveness.
%K robot
%K peg-in-hole insertion
%K adaptive impedance control
%K position modification<br>机器人
%K 插轴入孔
%K 自适应阻抗控制
%K 位置调整
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=50DE006D6A6640C0&yid=D43C4A19B2EE3C0A&vid=A04140E723CB732E&iid=CA4FD0336C81A37A&sid=CD775AE9DDBD7B53&eid=7E8E8B150580E4AB&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=1&reference_num=7