An admittance design method for general spatial parts mating

Masayuki Shimizu, Kazuhiro Kosuge

Research output: Contribution to journalConference articlepeer-review

4 Citations (Scopus)

Abstract

This paper describes a new method for designing admittance for spatial parts assembly with finite positioning errors and friction between the parts. First, how the admittance is described and how it should be designed are discussed to introduce the concept of the design approach. Then, the detail of the admittance design method is presented. Finally, the design method is applied to a mating task to show the effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)3571-3576
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2004
Issue number4
Publication statusPublished - 2004 Jul 5
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: 2004 Apr 262004 May 1

ASJC Scopus subject areas

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

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