Programming a damping matrix for error-corrective assembly

Michael Peshkin*

*Corresponding author for this work

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

2 Scopus citations


The author considers the situation in which the response of a manipulator to forces imposed on it is given by a user-selectable damping matrix (a six-by-six matrix which maps forces and torques into translational and rotational velocities). He then seeks to determine whether it is possible to choose the 36 matrix elements so that the forces which characterize every error condition map into the motions that correct it. He proposes three desired properties of the damping matrix: the bounded-forces, error-reduction, and nonorthogonal-motion properties. It is shown how the damping matrix most closely attaining these properties under all contact configurations can be constructed. For some tasks a 'perfect' damping matrix possessing all three properties exists, and under its direction assembly must necessarily proceed to completion. For some tasks a perfect damping matrix does not exist, and it is conjectured that the three properties may still be useful as heuristics; the damping matrix most closely attaining them will likely be appropriate to the task. To test this conjecture, the author considers the canonical peg-into-chamfered-hole task and finds that no 'perfect' damping matrix is possible.

Original languageEnglish (US)
Title of host publicationProc IEEE Int Symp Intell Control 1989
EditorsArthur C. Sanderson, Alan A. Desrochers, Kimon Valavanis
PublisherPubl by IEEE
Number of pages6
ISBN (Print)0818689870
StatePublished - Dec 1 1989
EventProceedings: IEEE International Symposium on Intelligent Control 1989 - Albany, NY, USA
Duration: Sep 25 1989Sep 26 1989


OtherProceedings: IEEE International Symposium on Intelligent Control 1989
CityAlbany, NY, USA

ASJC Scopus subject areas

  • Engineering(all)


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