Hybrid Control for Robotic Nut Tightening Task
Fuente:
arXiv
Enregistré dans:
| Auteur principal: | |
|---|---|
| Format: | Preprint |
| Publié: |
2025
|
| Sujets: | |
| Accès en ligne: | |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866918218863476736 |
|---|---|
| author | Kovalenko, Dmitri |
| author_facet | Kovalenko, Dmitri |
| contents | An autonomous robotic nut tightening system for a serial manipulator equipped with a parallel gripper is proposed. The system features a hierarchical motion-primitive-based planner and a control-switching scheme that alternates between force and position control. Extensive simulations demonstrate the system's robustness to variance in initial conditions. Additionally, the proposed controller tightens threaded screws 14% faster than the baseline while applying 40 times less contact force on manipulands. For the benefit of the research community, the system's implementation is open-sourced. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_21366 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Hybrid Control for Robotic Nut Tightening Task Kovalenko, Dmitri Robotics An autonomous robotic nut tightening system for a serial manipulator equipped with a parallel gripper is proposed. The system features a hierarchical motion-primitive-based planner and a control-switching scheme that alternates between force and position control. Extensive simulations demonstrate the system's robustness to variance in initial conditions. Additionally, the proposed controller tightens threaded screws 14% faster than the baseline while applying 40 times less contact force on manipulands. For the benefit of the research community, the system's implementation is open-sourced. |
| title | Hybrid Control for Robotic Nut Tightening Task |
| topic | Robotics |
| url | https://arxiv.org/abs/2511.21366 |