Admittance design for assembly of polyhedral parts with modeling errors

Masayuki Shimizu, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages3727-3732
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: 2005 Apr 182005 Apr 22

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period05/4/1805/4/22

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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