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Conference Paper: An admittance design approach to dynamic assembly of polyhedral parts with uncertainty

TitleAn admittance design approach to dynamic assembly of polyhedral parts with uncertainty
Authors
Shimizu, MasayukiKosuge, Kazuhiro
Issue Date2006
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 2006, v. 2006, p. 4025-4030 How to Cite?
DOI: http://dx.doi.org/10.1109/ROBOT.2006.1642320
AbstractThis paper proposes a systematic method of designing a robot admittance for dynamic assembly of generic polyhedral parts in the presence of positioning uncertainty between the parts. In particular, this paper discusses how to design an admittance that is suitable for high-speed assembly, where the effect of the part's inertia is dominant. First, an approach to designing the admittance is presented. Then, the detailed procedure of designing the admittance is described. Finally, the design method is applied to an assembly task to illustrate how it works. © 2006 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/302764
ISSN
1050-4729
2023 SCImago Journal Rankings: 1.620

 

DC FieldValueLanguage
dc.contributor.authorShimizu, Masayuki-
dc.contributor.authorKosuge, Kazuhiro-
dc.date.accessioned2021-09-07T08:42:32Z-
dc.date.available2021-09-07T08:42:32Z-
dc.date.issued2006-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 2006, v. 2006, p. 4025-4030-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/302764-
dc.description.abstractThis paper proposes a systematic method of designing a robot admittance for dynamic assembly of generic polyhedral parts in the presence of positioning uncertainty between the parts. In particular, this paper discusses how to design an admittance that is suitable for high-speed assembly, where the effect of the part's inertia is dominant. First, an approach to designing the admittance is presented. Then, the detailed procedure of designing the admittance is described. Finally, the design method is applied to an assembly task to illustrate how it works. © 2006 IEEE.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.titleAn admittance design approach to dynamic assembly of polyhedral parts with uncertainty-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBOT.2006.1642320-
dc.identifier.scopuseid_2-s2.0-33845622946-
dc.identifier.volume2006-
dc.identifier.spage4025-
dc.identifier.epage4030-

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