Programmed Compliance for Error Corrective Assembly

Michael A. Peshkin

doi:10.1109/70.59358

Programmed Compliance for Error Corrective Assembly

Michael A. Peshkin^*

^*Corresponding author for this work

Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

91 Scopus citations

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)
Pages (from-to)	473-482
Number of pages	10
Journal	IEEE Transactions on Robotics and Automation
Volume	6
Issue number	4
DOIs	https://doi.org/10.1109/70.59358
State	Published - Aug 1990

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/70.59358

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Programmed Compliance for Error Corrective Assembly

Abstract

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