Title :
An admittance design approach to dynamic assembly of polyhedral parts with uncertainty
Author :
Shimizu, Masayuki ; Kosuge, Kazuhiro
Author_Institution :
Dept. of Bioengineering & Robotics, Tohoku Univ., Sendai
Abstract :
This paper proposes a systematic method of designing a robot admittance for dynamic assembly of generic polyhedral parts in the presence of positioning uncertainty between the parts. In particular, this paper discusses how to design an admittance that is suitable for high-speed assembly, where the effect of the part´s inertia is dominant. First, an approach to designing the admittance is presented. Then, the detailed procedure of designing the admittance is described. Finally, the design method is applied to an assembly task to illustrate how it works
Keywords :
mechanical variables control; motion control; position control; robotic assembly; uncertain systems; dynamic assembly; polyhedral parts; positioning uncertainty; robot admittance; Acceleration; Admittance; Assembly systems; Damping; Design methodology; Force control; Impedance; Robotic assembly; Uncertainty; Velocity control;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1642320