An admittance design approach to dynamic assembly of polyhedral parts with uncertainty

Masayuki Shimizu, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a systematic method of designing a robot admittance for dynamic assembly of generic polyhedral parts in the presence of positioning uncertainty between the parts. In particular, this paper discusses how to design an admittance that is suitable for high-speed assembly, where the effect of the part's inertia is dominant. First, an approach to designing the admittance is presented. Then, the detailed procedure of designing the admittance is described. Finally, the design method is applied to an assembly task to illustrate how it works.

Original languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages4025-4030
Number of pages6
Volume2006
DOIs
Publication statusPublished - 2006 Dec 27
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 2006 May 152006 May 19

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period06/5/1506/5/19

ASJC Scopus subject areas

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

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