Space of admittance control laws that guarantees force-assembly with friction

Joseph M. Schimmels*, Michael A. Peshkin

*Corresponding author for this work

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

3 Scopus citations

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 languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages443-448
Number of pages6
Volume3
ISBN (Print)0818634529
StatePublished - Jan 1 1993
EventProceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA
Duration: May 2 1993May 6 1993

Other

OtherProceedings of the IEEE International Conference on Robotics and Automation
CityAtlanta, GA, USA
Period5/2/935/6/93

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

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