The Space of Admittance Control Laws that Guarantees Force-Assembly with Friction

Authors

Joseph M. Schimmels, Marquette UniversityFollow
Michael A. Peshkin

Document Type

Conference Proceeding

Language

eng

Publication Date

5-2-1993

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Source Publication

Proceedings., 1993 IEEE International Conference on Robotics and Automation, 1993

Source ISSN

0818634502

Abstract

If an admittance control law is properly designed, a workpiece can be guided into a fixture using only the contact forces for guidance (force-assembly). Using an optimization procedure, a single accommodation control law that allows force-assembly at the maximum value of friction is obtained. For the purpose of the accommodation control law design, a set of linear sufficient conditions is used to generate accommodation basis matrices. Any nonnegative linear combination of the accommodation basis matrices that, when combined, yields a positive definite accommodation matrix, is guaranteed to provide force-assembly at (or below) the value of friction specified.

Comments

Published as a part of the Proceedings., 1993 IEEE International Conference on Robotics and Automation, 1993. DOI.

Recommended Citation

Schimmels, Joseph M. and Peshkin, Michael A., "The Space of Admittance Control Laws that Guarantees Force-Assembly with Friction" (1993). Mechanical Engineering Faculty Research and Publications. 118.
https://epublications.marquette.edu/mechengin_fac/118