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 language | English |
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Title of host publication | Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 |
Pages | 4025-4030 |
Number of pages | 6 |
Volume | 2006 |
DOIs | |
Publication status | Published - 2006 Dec 27 |
Event | 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: 2006 May 15 → 2006 May 19 |
Other
Other | 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 |
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Country | United States |
City | Orlando, FL |
Period | 06/5/15 → 06/5/19 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Artificial Intelligence
- Electrical and Electronic Engineering