Force Control Type of Parallel Link Manipulator for Automatic Assembly of Segments

Using force control system make it possible to assemble segments speedily and precisely.
We use the honeycomb type of segment has good points for the automatic assembly robot system.
We attached guide bars under the segment so that assembly of the segment is able to be achieved smoothly.
We represent the position of the segment based on the cylinder coordinate system which is suitable for the task and force control it by the dumping control rule.