DocumentCode
2601642
Title
Designing robot admittance for polyhedral parts assembly taking into account grasping uncertainty
Author
Shimizu, Masayuki ; Kosuge, Kazuhiro
Author_Institution
Dept. of Bioeng. & Robotics, Tohoku Univ., Sendai, Japan
fYear
2005
fDate
2-6 Aug. 2005
Firstpage
2899
Lastpage
2904
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.
Keywords
compliance control; control system synthesis; grippers; motion control; position control; robotic assembly; uncertain systems; compliant motion; grasping pose uncertainty; polyhedral part assembly; robot admittance design; Admittance; Assembly systems; Damping; Design methodology; Force control; Friction; Motion control; Robotic assembly; Robots; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN
0-7803-8912-3
Type
conf
DOI
10.1109/IROS.2005.1545471
Filename
1545471
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