Sufficient Conditions Used in Admittance Selection for Planar Force-guided Assembly
Institute of Electrical and Electronics Engineers (IEEE)
Proceedings. ICRA '02. IEEE International Conference on Robotics and Automation, 2002
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 planar force-guided assembly 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 misalignment, if the conditions are satisfied for a finite number of contact configurations, the system ensures that force guidance is achieved for all intermediate configurations.