Title

Spatial Admittance Selection Conditions for Frictionless Force-guided Assembly of Polyhedral Parts in Single Principal Contact

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.

Comments

IEEE Transactions on Robotics, Vol. 22, No. 2 (April 2006): 225-239. DOI.