Admittance Design for Assembly of Polyhedral Parts with Modeling Errors

This paper describes a new method of designing admittance for robotic assembly involving polyhedral parts with geometrical modeling errors as well as finite positioning errors and friction between the parts. First, an approach to de signing admittance is illustrated. Then, the detailed procedure for designing admittance robust to the errors is presented. Finally, the design method is applied to a mating task to show the effectiveness of the proposed method.