Abstract
In this paper, we propose a new method for planar assembly of two parts assuming positioning errors of parts as well as frictions between the parts. The parts-mating is realized by specifying a structured compliance of a part with respect to the other part assuming positioning errors as well as frictions between the parts. The structured compliance is the compliance defined with respect to a generalized coordinate system, which is selected so as to accomplish the parts-mating assuming positioning error between the parts. How to specify the generalized coordinate system is discussed in this paper. Several examples will illustrate the effectiveness of the proposed method.
Original language | English |
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Pages | 1477-1482 |
Number of pages | 6 |
Publication status | Published - 2001 Dec 1 |
Event | 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States Duration: 2001 Oct 29 → 2001 Nov 3 |
Other
Other | 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems |
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Country/Territory | United States |
City | Maui, HI |
Period | 01/10/29 → 01/11/3 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications