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Experimental investigation of 2D cylindrical pair height adjustment in a static environment

Journal Article


Abstract


  • In this paper, a new method for adjusting the height of a cylindrical pair in a static environment is presented. Generic force formulations are established. A technique to uniquely identify the type of contact based on the force and torque data provided by a wrist mounted F/T sensor is developed. For small clearances between the links, the assumption of using zero misalignment in the formulations is justified by means of simulations. Friction, which is a key parameter for contact type identification is experimentally determined. Preliminary experimental results indicate that the presented technique is effective in determining the type of contact for the height adjustment operation.

Publication Date


  • 2004

Citation


  • De Waas Tilakaratna, P., Shirinzadeh, B., & Alici, G. (2004). Experimental investigation of 2D cylindrical pair height adjustment in a static environment. IFAC Proceedings Volumes (IFAC-PapersOnline), 37(14), 623-628. doi:10.1016/S1474-6670(17)31172-2

Scopus Eid


  • 2-s2.0-85064517117

Web Of Science Accession Number


Start Page


  • 623

End Page


  • 628

Volume


  • 37

Issue


  • 14

Abstract


  • In this paper, a new method for adjusting the height of a cylindrical pair in a static environment is presented. Generic force formulations are established. A technique to uniquely identify the type of contact based on the force and torque data provided by a wrist mounted F/T sensor is developed. For small clearances between the links, the assumption of using zero misalignment in the formulations is justified by means of simulations. Friction, which is a key parameter for contact type identification is experimentally determined. Preliminary experimental results indicate that the presented technique is effective in determining the type of contact for the height adjustment operation.

Publication Date


  • 2004

Citation


  • De Waas Tilakaratna, P., Shirinzadeh, B., & Alici, G. (2004). Experimental investigation of 2D cylindrical pair height adjustment in a static environment. IFAC Proceedings Volumes (IFAC-PapersOnline), 37(14), 623-628. doi:10.1016/S1474-6670(17)31172-2

Scopus Eid


  • 2-s2.0-85064517117

Web Of Science Accession Number


Start Page


  • 623

End Page


  • 628

Volume


  • 37

Issue


  • 14