Admittance Matrix Design for Force-guided Assembly

Document Type




Format of Original

15 p.

Publication Date



Institute of Electrical and Electronics Engineers (IEEE)

Source Publication

IEEE Transactions on Robots and Automation

Source ISSN



The authors address the design of manipulator admittance for reliable force-guided assembly. Their goal is to design the admittance of the manipulator so that, at all possible bounded part misalignments, the contact forces always lead to error-reducing motions. If this objective can be accomplished for a given pair of mating parts, the parts are called force-assemblable. As a testbed application of manipulator admittance design for force-guided assembly, the authors investigate the insertion of a workpiece into a fixture consisting of multiple rigid fixture to be one for which there exists an admittance matrix that ensures the unique positioning of a workpiece despite initial positional error. It is shown that, in the absence of friction, all deterministic fixtures are linearly force-assemblable. How to design an admittance matrix that guarantees that the workpiece will be guided into the deterministic fixture by the fixel contact forces alone is shown.


IEEE Transactions on Robots and Automation, Vol. 8, No. 2 (April 1992): 213-237. DOI.