Synthesis and Validation of Nondiagonal Accommodation Matrices for Error-Corrective Assembly

Authors

Joseph M. Schimmels, Marquette UniversityFollow
Michael A. Peshkin

Document Type

Conference Proceeding

Language

eng

Publication Date

5-13-1990

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Source Publication

Proceedings., 1990 IEEE International Conference on Robotics and Automation, 1990

Source ISSN

0818690615

Abstract

A methodology is described by which erroneous contact configurations for a given task are used to synthesize an appropriate accommodation matrix (either diagonal or nondiagonal) such that the motions which result from contact with the environment are error corrective. The methodology is verified by the synthesis and experimental validation of a nondiagonal accommodation matrix sufficient for an error-corrective place-in-detent robotic assembly operation, an operation that fails if a diagonal accommodation matrix is used.

Comments

Published as a part of the Proceedings., 1990 IEEE International Conference on Robotics and Automation, 1990. DOI.

Joseph M. Schimmels was affiliated with Northwestern University at the time of publication.

Recommended Citation

Schimmels, Joseph M. and Peshkin, Michael A., "Synthesis and Validation of Nondiagonal Accommodation Matrices for Error-Corrective Assembly" (1990). Mechanical Engineering Faculty Research and Publications. 120.
https://epublications.marquette.edu/mechengin_fac/120