The Space of Admittance Control Laws that Guarantees Force-Assembly with Friction
Institute of Electrical and Electronics Engineers (IEEE)
Proceedings., 1993 IEEE International Conference on Robotics and Automation, 1993
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.