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

Masayuki Shimizu; Kazuhiro Kosuge

doi:10.1109/ROBOT.2006.1642320

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

Masayuki Shimizu, Kazuhiro Kosuge

ENG - Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
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	https://doi.org/10.1109/ROBOT.2006.1642320
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
Country/Territory	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

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10.1109/ROBOT.2006.1642320

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Shimizu, M & Kosuge, K 2006, An admittance design approach to dynamic assembly of polyhedral parts with uncertainty. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. vol. 2006, 1642320, pp. 4025-4030, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 06/5/15. https://doi.org/10.1109/ROBOT.2006.1642320

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AB - 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.

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SP - 4025

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BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006

T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006

Y2 - 15 May 2006 through 19 May 2006

ER -

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

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