Document Type
Article
Language
eng
Format of Original
13 p.
Publication Date
10-2004
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Source Publication
IEEE Transactions on Robotics
Source ISSN
1552-3098
Original Item ID
doi: 10.1109/TRO.2004.829495
Abstract
An important issue in the development of force guidance assembly strategies is the specification of an appropriate admittance control law. This paper identifies conditions to be satisfied when selecting the appropriate admittance to achieve force-guided assembly of polygonal parts for multipoint contact with friction. These conditions restrict the admittance behavior for each of the various one-point and two-point contact cases and ensure that the motion that results from contact reduces part misalignment for each case. We show that, for bounded friction and part misalignments, if the identified conditions are satisfied for a finite number of contact configurations and friction coefficients, the conditions ensure that force guidance is achieved for all configurations and values of friction within the specified bounds.
Recommended Citation
Huang, Shuguang and Schimmels, Joseph M., "Admittance Selection for Force-guided Assembly of Polygonal Parts Despite Friction" (2004). Mechanical Engineering Faculty Research and Publications. 79.
https://epublications.marquette.edu/mechengin_fac/79
Comments
Accepted version. IEEE Transactions on Robotics, Vol. 20, No. 5 (October 2004): 817-829. DOI. © 2004 The Institute of Electrical and Electronics Engineers. Used with permission.