Title :
Synthesis and validation of nondiagonal accommodation matrices for error-corrective assembly
Author :
Schimmels, Joseph M. ; Peshkin, Michael A.
Author_Institution :
Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
Abstract :
A methodology is described by which erroneous contact configurations for a given task are used to synthesize an appropriate accommodation matrix (either diagonal or nondiagonal) such that the motions which result from contact with the environment are error corrective. The methodology is verified by the synthesis and experimental validation of a nondiagonal accommodation matrix sufficient for an error-corrective place-in-detent robotic assembly operation, an operation that fails if a diagonal accommodation matrix is used
Keywords :
assembling; industrial robots; manufacturing computer control; matrix algebra; erroneous contact configurations; error corrective motions; error-corrective assembly; nondiagonal accommodation matrices; place-in-detent robotic assembly operation; robots; Algorithm design and analysis; Damping; Design methodology; Error correction; Matrix decomposition; Mechanical engineering; Motion planning; Robotic assembly; Shock absorbers; Trajectory;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126069
