The space of admittance control laws that guarantees force-assembly with friction

Author

Schimmels, Joseph M. ; Peshkin, Michael A.

Author_Institution

Dept. of Mech. Eng., Marquette Univ., Milwaukee, WI, USA

fYear

1993

fDate

2-6 May 1993

Firstpage

443

Abstract

If an admittance control law is properly designed, a workpiece can be guided into a fixture using only the contact forces for guidance (force-assembly). Using an optimization procedure, a single accommodation control law that allows force-assembly at the maximum value of friction is obtained. For the purpose of the accommodation control law design, a set of linear sufficient conditions is used to generate accommodation basis matrices. Any nonnegative linear combination of the accommodation basis matrices that, when combined, yields a positive definite accommodation matrix, is guaranteed to provide force-assembly at (or below) the value of friction specified

Keywords

assembling; force control; friction; industrial manipulators; matrix algebra; optimal control; accommodation basis matrices; accommodation control law; admittance control laws; force-assembly with friction; force-guided assembly; linear sufficient conditions; manipulators; optimization procedure; positive definite accommodation matrix; space; Admittance; Assembly; Fixtures; Force control; Friction; Mechanical engineering; Null space; Sufficient conditions; Testing; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.292212

Filename

292212