Designing robot admittance for polyhedral parts assembly taking into account grasping uncertainty

Masayuki Shimizu, Kazuhiro Kosuge

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

Abstract

This paper presents a systematic method of designing robot admittance for assembling generic polyhedral parts despite various uncertainties including the uncertainty in the grasping pose of the workpiece relative to the robot. First, the basic concept of how to design admittance is described. Then, the method of designing admittance for dealing with the uncertainties is provided. Lastly, the application of the admittance design method to an assembly task illustrates the effectiveness of the proposed method.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages2899-2904
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
Publication statusPublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Designing robot admittance for polyhedral parts assembly taking into account grasping uncertainty'. Together they form a unique fingerprint.

  • Cite this

    Shimizu, M., & Kosuge, K. (2005). Designing robot admittance for polyhedral parts assembly taking into account grasping uncertainty. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 2899-2904). [1545471] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). IEEE Computer Society. https://doi.org/10.1109/IROS.2005.1545471