Admittance matrix design for force-guided assembly
نویسندگان
چکیده
Joseph M. Schimmels Michael A. Peshkin Department of Mechanical Engineering Northwestern University Evanston, IL 60208 Abstract This paper addresses manipulator admittance design with regard to reliable force guided assembly. Our goal is to design the admittance of the manipulator so that, at all possible part misalignments, the contact forces always lead to error-reducing motions. If this objective can be accomplished for a given set of parts, we call the parts force-assemblable.
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ورودعنوان ژورنال:
- IEEE Trans. Robotics and Automation
دوره 8 شماره
صفحات -
تاریخ انتشار 1992