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- Publisher Website: 10.1109/IROS.2005.1545471
- Scopus: eid_2-s2.0-79957981448
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Conference Paper: Designing robot admittance for polyhedral parts assembly taking into account grasping uncertainty
| Title | Designing robot admittance for polyhedral parts assembly taking into account grasping uncertainty |
|---|---|
| Authors | |
| Issue Date | 2005 |
| Citation | 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2005, p. 2899-2904 How to Cite? |
| 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. © 2005 IEEE. |
| Persistent Identifier | http://hdl.handle.net/10722/302868 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Shimizu, Masayuki | - |
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.date.accessioned | 2021-09-07T08:42:44Z | - |
| dc.date.available | 2021-09-07T08:42:44Z | - |
| dc.date.issued | 2005 | - |
| dc.identifier.citation | 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, 2005, p. 2899-2904 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302868 | - |
| dc.description.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. © 2005 IEEE. | - |
| dc.language | eng | - |
| dc.relation.ispartof | 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS | - |
| dc.title | Designing robot admittance for polyhedral parts assembly taking into account grasping uncertainty | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/IROS.2005.1545471 | - |
| dc.identifier.scopus | eid_2-s2.0-79957981448 | - |
| dc.identifier.spage | 2899 | - |
| dc.identifier.epage | 2904 | - |