Title

Sufficient Conditions Used in Admittance Selection for Force-guided Assembly of Polygonal Parts

Document Type

Article

Language

eng

Format of Original

6 p.; 28 cm

Publication Date

8-2003

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Source Publication

IEEE Transactions on Robotics and Automation

Source ISSN

1042-296X

Original Item ID

doi: 10.1109/TRA.2003.814498

Abstract

Admittance control approaches show significant promise in providing reliable force-guided assembly. An important issue in the development of these approaches is the specification of an appropriate admittance control law. This paper identifies procedures for selecting the appropriate admittance to achieve reliable force-guided assembly of planar polyhedral parts for single-point contact cases. A set of conditions that are imposed on the admittance matrix is presented. These conditions ensure that the motion that results from contact reduces part misalignment. We show that, for bounded misalignments, if an admittance satisfies the misalignment-reduction conditions at a finite number of contact configurations, then the admittance will also satisfy the conditions at all intermediate configurations.

Comments

IEEE Transactions on Robotics and Automation, Vol. 19, No. 4 (August 2003): 737-742. DOI.