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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Shuguang Huang Schimmels, J.M. |
| Copyright Year | 2004 |
| 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. |
| Sponsorship | IEEE Robotics and Automation Soc |
| Starting Page | 3577 |
| Ending Page | 3582 |
| File Size | 463072 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780382323 |
| ISSN | 10504729 |
| DOI | 10.1109/ROBOT.2004.1308807 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2004-04-26 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Transmission line matrix methods Robotic assembly Manipulators Force measurement Motion measurement Admittance measurement Torque measurement Damping Force control Motion control |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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