Title :
An admittance design method for general spatial parts mating
Author :
Shimizu, Masayuki ; Kosuge, Kazuhiro
Author_Institution :
Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan
fDate :
April 26-May 1, 2004
Abstract :
This paper describes a new method for designing admittance for spatial parts assembly with finite positioning errors and friction between the parts. First, how the admittance is described and how it should be designed or discussed to introduce the concept of the design approach. Then, the details of the admittance design method are presented. Finally, the design method is applied to a mating task to show the effectiveness of the proposed method.
Keywords :
assembling; design for manufacture; errors; position control; admittance design method; finite positioning errors; friction; spatial parts assembly; spatial parts mating; Admittance; Design engineering; Design methodology; Error correction; Friction; Machine intelligence; Motion control; Robotic assembly; Systems engineering and theory; Transmission line matrix methods;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1308806
