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

Document Type

Conference Proceeding



Publication Date



Institute of Electrical and Electronics Engineers (IEEE)

Source Publication

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

Source ISSN



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.


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