Programmed Compliance for Error Corrective Assembly

Michael A. Peshkin*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

91 Scopus citations


Suppose that before an assembly task commences, we can specify at will the manipulator's response to assembly forces by providing a single compliance (or damping) matrix to be used for the duration of the operation. Can we choose the matrix elements so that the force that characterizes every possible error condition maps into a motion that reduces it? If so, we are assured that the operation will evolve toward decreased errors and eventual success. In this paper, we describe a framework and a method of synthesis of an error-corrective matrix.

Original languageEnglish (US)
Pages (from-to)473-482
Number of pages10
JournalIEEE Transactions on Robotics and Automation
Issue number4
StatePublished - Aug 1990

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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