Derivation of damping control parameters based on geometric model

A model-based approach to the generation of control parameters for damping control is presented. Applying damping control, a robot can modify its motion according to reaction forces acting on it in order to achieve an operation. An admittance matrix, which characterizes the actual robot motion, must be determined. An analytical method to derive admittance matrices for part-mating operations is analyzed with regard to how the workpieces contact each other. Kinematic and static properties at each contact state are also analyzed. The condition for successful part-mating operations is formulated. A systematic method is developed to compute admittance matrices that can eliminate positioning errors. A simple example is shown to demonstrate the computation process of admittance matrices