Institute of Electrical and Electronic Engineers (IEEE)
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
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.
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.
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