DocumentCode
414387
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
Volume
4
fYear
2004
fDate
April 26-May 1, 2004
Firstpage
3571
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1308806
Filename
1308806
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