Abstract
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 language | English (US) |
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Pages (from-to) | 473-482 |
Number of pages | 10 |
Journal | IEEE Transactions on Robotics and Automation |
Volume | 6 |
Issue number | 4 |
DOIs | |
State | Published - Aug 1990 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering