Admittance design for assembly of polyhedral parts with modeling errors

Masayuki Shimizu; Kazuhiro Kosuge

doi:10.1109/ROBOT.2005.1570688

Admittance design for assembly of polyhedral parts with modeling errors

Masayuki Shimizu, Kazuhiro Kosuge

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

This paper describes a new method of designing admittance for robotic assembly involving polyhedral parts with geometrical modeling errors as well as finite positioning errors and friction between the parts. First, an approach to designing admittance is illustrated. Then, the detailed procedure for designing admittance robust to the errors is presented. Finally, the design method is applied to a mating task to show the effectiveness of the proposed method.

Original language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	3727-3732
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570688
Publication status	Published - 2005 Dec 1
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: 2005 Apr 18 → 2005 Apr 22

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Other

Other	2005 IEEE International Conference on Robotics and Automation
Country	Spain
City	Barcelona
Period	05/4/18 → 05/4/22

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.2005.1570688

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Admittance design for assembly of polyhedral parts with modeling errors. / Shimizu, Masayuki; Kosuge, Kazuhiro.

Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 3727-3732 1570688 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Shimizu, M & Kosuge, K 2005, Admittance design for assembly of polyhedral parts with modeling errors. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570688, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 3727-3732, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 05/4/18. https://doi.org/10.1109/ROBOT.2005.1570688

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abstract = "This paper describes a new method of designing admittance for robotic assembly involving polyhedral parts with geometrical modeling errors as well as finite positioning errors and friction between the parts. First, an approach to designing admittance is illustrated. Then, the detailed procedure for designing admittance robust to the errors is presented. Finally, the design method is applied to a mating task to show the effectiveness of the proposed method.",

author = "Masayuki Shimizu and Kazuhiro Kosuge",

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AU - Kosuge, Kazuhiro

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AB - This paper describes a new method of designing admittance for robotic assembly involving polyhedral parts with geometrical modeling errors as well as finite positioning errors and friction between the parts. First, an approach to designing admittance is illustrated. Then, the detailed procedure for designing admittance robust to the errors is presented. Finally, the design method is applied to a mating task to show the effectiveness of the proposed method.

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BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation

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Y2 - 18 April 2005 through 22 April 2005

ER -

Admittance design for assembly of polyhedral parts with modeling errors

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