Admittance Matrix Design for Force-Guided Assembly

Joseph M. Schimmels, Michael A. Peshkin

Research output: Contribution to journalArticlepeer-review

83 Scopus citations


This paper addresses the design of manipulator admittance for reliable force-guided assembly. Our goal is to design the admittance of the manipulator so that, at all possible bounded part misalignments, the contact forces always lead to error-reducing motions. If this objective can be accomplished for a given pair of mating parts, we call the parts force-assemblable. As a testbed application of manipulator admittance design for force-guided assembly, we investigate the insertion of a workpiece into a fixture consisting of multiple rigid fixture elements (fixels). Here, we define a linearly force-assemblable fixture to be one for which there exists an admittance matrix that ensures the unique positioning of a workpiece despite initial positional error. We show that, in the absence of friction, all deterministic fixtures are linearly force-assemblable. We also show how to design an admittance matrix that guarantees that the workpiece will be guided into the deterministic fixture by the fixel contact forces alone.

Original languageEnglish (US)
Pages (from-to)213-227
Number of pages15
JournalIEEE Transactions on Robotics and Automation
Issue number2
StatePublished - Apr 1992

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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