Admittance Selection for Force-guided Assembly of Polyhedral Parts in Single-point Contact

Authors

Shuguang Huang, Marquette UniversityFollow
Joseph M. Schimmels, Marquette UniversityFollow

Document Type

Conference Proceeding

Language

eng

Publication Date

7-6-2004

Publisher

Institute of Electrical and Electronic Engineers (IEEE)

Source Publication

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004

Source ISSN

1050-4729

Abstract

The selection of the proper admittance is important in achieving force-guided assembly. This paper identifies procedures for selecting the appropriate spatial admittance to achieve reliable force-guided assembly of polyhedral parts for single-point frictionless contact cases. Sets of conditions that are imposed on the admittance matrix for different types of single-point contact are presented. These conditions ensure that the motion that results from contact reduces part misalignment in the selected contact state. We show that, for bounded misalignments, if an admittance satisfies the misalignment-reduction conditions at a finite number of contact configurations, then the admittance also satisfy the conditions at all intermediate configurations.

Comments

Accepted version. IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, Accession Number: 8082491 (July 6, 2004). DOI. © 2018 IEEE. Used with permission.

Recommended Citation

Huang, Shuguang and Schimmels, Joseph M., "Admittance Selection for Force-guided Assembly of Polyhedral Parts in Single-point Contact" (2004). Mechanical Engineering Faculty Research and Publications. 177.
https://epublications.marquette.edu/mechengin_fac/177