Document Type
Article
Language
eng
Format of Original
15 p.
Publication Date
4-2006
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.2006.870626
Abstract
By judiciously selecting the admittance of a manipulator, the forces of contact that occur during assembly can be used to guide the parts to proper positioning. This paper identifies conditions for selecting the appropriate spatial admittance to achieve reliable force-guided assembly of polyhedral parts for cases in which a single feature (vertex, edge, or face) of one part contacts a single feature of the other, i.e., all single principal contact cases. These conditions ensure that the motion that results from frictionless contact always instantaneously reduces part misalignment. We show that, for bounded misalignments, if an admittance satisfies the misalignment-reducing conditions at a finite number of contact configurations, then the admittance will also satisfy the conditions at all intermediate configurations.
Recommended Citation
Huang, Shuguang and Schimmels, Joseph M., "Spatial Admittance Selection Conditions for Frictionless Force-guided Assembly of Polyhedral Parts in Single Principal Contact" (2006). Mechanical Engineering Faculty Research and Publications. 80.
https://epublications.marquette.edu/mechengin_fac/80
Comments
Accepted version. IEEE Transactions on Robotics, Vol. 22, No. 2 (April 2006): 225-239. DOI. © 2006 The Institute of Electrical and Electronics Engineers. Used with permission.