Abstract
If an admittance control law is properly designed, a workpiece can be guided into a fixture using only the contact forces for guidance (force-assembly). Previously, we have shown that a control law that allows force-assembly with friction can be obtained as long as the forces associated with positional misalignment are characteristic. Using an optimization procedure, a single accommodation control law that allows force-assembly at the maximum value of friction is obtained. This single accommodation control law, however, is not unique nor is it necessarily the ″best″. There exist a space of accommodation control laws that will allow force-assembly at (or below) the value of friction that marginally violates the characteristic forces condition. Here, for the purpose of the accommodation control law design, a set of linear sufficient conditions is used to generate accommodation basis matrices. Any nonnegative linear combination of the accommodation basis matrices that, when combined, yields a positive definite accommodation matrix, is guaranteed to provide force-assembly at (or below) the value of friction specified.
| Original language | English (US) |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Publisher | Publ by IEEE |
| Pages | 443-448 |
| Number of pages | 6 |
| Volume | 3 |
| ISBN (Print) | 0818634529 |
| State | Published - Jan 1 1993 |
| Event | Proceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA Duration: May 2 1993 → May 6 1993 |
Other
| Other | Proceedings of the IEEE International Conference on Robotics and Automation |
|---|---|
| City | Atlanta, GA, USA |
| Period | 5/2/93 → 5/6/93 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering