The Robustness of an Admittance Control Law Designed for Force Guided Assembly to the Disturbance of Contact Friction

Document Type

Conference Proceeding

Language

eng

Publication Date

5-12-1992

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Source Publication

Proceedings., 1992 IEEE International Conference on Robotics and Automation, 1992

Source ISSN

1042-296X

Abstract

The design of an admittance control law for reliable force-guided assembly is addressed. The overall objective is to design the manipulator's mechanical performance so that, at each possible bounded part misalignment, the contact force always leads to a motion that alleviates the misalignment. The implementation of such an approach using a single nominal velocity and a single admittance function is referred to as force-assembly. Previous work addressing force-assembly of a workpiece into a fixture has shown that when workpiece/fixture contact is frictionless there always exists an admittance control law that ensures the proper insertion of a workpiece into a deterministic future. The authors discuss the identification of the condition that must be satisfied for force-assembly with friction and the optimization of the admittance control law to obtain the maximum value of friction that satisfies the force-assembly conditions for a given workpiece-fixture combination.

Comments

Published as a part of the Proceedings., 1992 IEEE International Conference on Robotics and Automation, 1992. DOI.

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