Robot-Assisted Drilling on Curved Surfaces with Haptic Guidance under Adaptive Admittance Control
Alireza Madani,Pouya P. Niaz,Berk Guler,Yusuf Aydin,Cagatay Basdogan,Alireza Madani,Pouya P. Niaz,Berk Guler,Yusuf Aydin,Cagatay Basdogan
Drilling a hole on a curved surface with a desired angle is prone to failure when done manually, due to the difficulties in drill alignment and also inherent instabilities of the task, potentially causing injury and fatigue to the workers. On the other hand, it can be impractical to fully automate such a task in real manufacturing environments because the parts arriving at an assembly line can hav...
