Title :
Designing robot admittance for polyhedral parts assembly taking into account grasping uncertainty
Author :
Shimizu, Masayuki ; Kosuge, Kazuhiro
Author_Institution :
Dept. of Bioeng. & Robotics, Tohoku Univ., Sendai, Japan
Abstract :
This paper presents a systematic method of designing robot admittance for assembling generic polyhedral parts despite various uncertainties including the uncertainty in the grasping pose of the workpiece relative to the robot. First, the basic concept of how to design admittance is described. Then, the method of designing admittance for dealing with the uncertainties is provided. Lastly, the application of the admittance design method to an assembly task illustrates the effectiveness of the proposed method.
Keywords :
compliance control; control system synthesis; grippers; motion control; position control; robotic assembly; uncertain systems; compliant motion; grasping pose uncertainty; polyhedral part assembly; robot admittance design; Admittance; Assembly systems; Damping; Design methodology; Force control; Friction; Motion control; Robotic assembly; Robots; Uncertainty;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545471
