Title

Admittance Selection for Force-guided Assembly of Polygonal Parts Despite Friction

Document Type

Article

Language

eng

Format of Original

13 p.

Publication Date

10-2004

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Source Publication

IEEE Transactions on Robotics

Source ISSN

1552-3098

Original Item ID

doi: 10.1109/TRO.2004.829495

Abstract

An important issue in the development of force guidance assembly strategies is the specification of an appropriate admittance control law. This paper identifies conditions to be satisfied when selecting the appropriate admittance to achieve force-guided assembly of polygonal parts for multipoint contact with friction. These conditions restrict the admittance behavior for each of the various one-point and two-point contact cases and ensure that the motion that results from contact reduces part misalignment for each case. We show that, for bounded friction and part misalignments, if the identified conditions are satisfied for a finite number of contact configurations and friction coefficients, the conditions ensure that force guidance is achieved for all configurations and values of friction within the specified bounds.

Comments

IEEE Transactions on Robotics, Vol. 20, No. 5 (October 2004): 817-829. DOI.