NDLI: Programming a damping matrix for error-corrective assembly

Content Provider	IEEE Xplore Digital Library
Author	Peshkin, M.A.
Copyright Year	1989
Description	Author affiliation: Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA (Peshkin, M.A.)
Abstract	The author considers the situation in which the response of a manipulator to forces imposed on it is given by a user-selectable damping matrix (a six-by-six matrix which maps forces and torques into translational and rotational velocities). He then seeks to determine whether it is possible to choose the 36 matrix elements so that the forces which characterize every error condition map into the motions that correct it. He proposes three desired properties of the damping matrix: the bounded-forces, error-reduction, and nonorthogonal-motion properties. It is shown how the damping matrix most closely attaining these properties under all contact configurations can be constructed. For some tasks a 'perfect' damping matrix possessing all three properties exists, and under its direction assembly must necessarily proceed to completion. For some tasks a perfect damping matrix does not exist, and it is conjectured that the three properties may still be useful as heuristics; the damping matrix most closely attaining them will likely be appropriate to the task. To test this conjecture, the author considers the canonical peg-into-chamfered-hole task and finds that no 'perfect' damping matrix is possible.
Starting Page	334
Ending Page	339
File Size	682528
Page Count	6
File Format	PDF
ISBN	0818619872
ISSN	21589860
DOI	10.1109/ISIC.1989.238697
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1989-09-25
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Damping Manipulators Error correction Shock absorbers Robots Mechanical engineering Robotic assembly Robotics and automation Testing Springs
Content Type	Text
Resource Type	Article

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