Programming a damping matrix for error-corrective assembly

Michael Peshkin*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

During a robotic assembly operation small errors of position and orientation of contacting parts are inevitable. The errors result in characteristic contact forces which, as a function of the manipulator's compliance, lead to small deviations of the manipulator from its nominal trajectory. The deviations may serve to increase or to decrease the errors. Thus the evolution of a robotic operation toward increasing or decreasing errors is intimately involved with the compliance of the manipulator. In this paper, an attempt is made to automate the synthesis of a user-selectable error corrective damping matrix for a given task, i.e., a six-by-six matrix which maps forces and torques into translational and rotational velocities.

Original languageEnglish (US)
Title of host publicationAmerican Society of Mechanical Engineers, Design Engineering Division (Publication) DE
PublisherPubl by ASME
Pages1-7
Number of pages7
Volume20
StatePublished - Dec 1 1989
EventAdvances in Design Automation - 1989 - Montreal, Que, Can
Duration: Sep 17 1989Sep 21 1989

Other

OtherAdvances in Design Automation - 1989
CityMontreal, Que, Can
Period9/17/899/21/89

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Peshkin, M. (1989). Programming a damping matrix for error-corrective assembly. In American Society of Mechanical Engineers, Design Engineering Division (Publication) DE (Vol. 20, pp. 1-7). Publ by ASME.