Active force control for Robotic Micro-Assembly : Application to guiding tasks.

Kanty Rabenorosoa (1) , Cédric Clévy (1) , Philippe Lutz (1)

1 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)

This paper presents an analytical model and experimental results from a study of guiding tasks in microassembly. This work is focused on the use of two fingers for gripping microparts. The stability of the grasp when the contact appears is investigated and strategies during the guiding task are discussed. The contact side detection and the contact force estimation are studied. The incremental control in static mode is then investigated for controlling the guiding task. Experimental setups are proposed and some experimental results are presented.

Domaines: Micro et nanotechnologies/Microélectronique

Kanty Rabenorosoa, Cédric Clévy, Philippe Lutz. Active force control for Robotic Micro-Assembly : Application to guiding tasks.. IEEE International Conference on Robotics and Automation, ICRA'10., May 2010, Anchorage - Alaska, United States. pp.2137-2142. ⟨hal-00504429⟩