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

Document Type




Format of Original

15 p.

Publication Date



Institute of Electrical and Electronics Engineers (IEEE)

Source Publication

IEEE Transactions on Robotics

Source ISSN


Original Item ID

doi: 10.1109/TRO.2006.870626


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.


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