TY - GEN
T1 - Admittance design for assembly of polyhedral parts with modeling errors
AU - Shimizu, Masayuki
AU - Kosuge, Kazuhiro
PY - 2005/12/1
Y1 - 2005/12/1
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=33846180029&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33846180029&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2005.1570688
DO - 10.1109/ROBOT.2005.1570688
M3 - Conference contribution
AN - SCOPUS:33846180029
SN - 078038914X
SN - 9780780389144
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3727
EP - 3732
BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation
T2 - 2005 IEEE International Conference on Robotics and Automation
Y2 - 18 April 2005 through 22 April 2005
ER -