@inproceedings{11faf6901fe44bdfb7100e72f27d5510,
title = "Synthesis and validation of non-diagonal accommodation matrices for error-corrective assembly",
abstract = "A methodology is described by which erroneous contact configurations for a given task are used to synthesize an appropriate accommodation matrix (either diagonal or nondiagonal) such that the motions which result from contact with the environment are error corrective. The methodology is verified by the synthesis and experimental validation of a nondiagonal accommodation matrix sufficient for an error-corrective place-in-detent assembly operation, an operation that fails using a diagonal accommodation matrix.",
author = "Schimmels, {Joseph M.} and Michael Peshkin",
year = "1990",
month = dec,
day = "1",
language = "English (US)",
isbn = "0818620617",
series = "Proc 90 IEEE Int Conf Rob Autom",
publisher = "Publ by IEEE",
pages = "714--719",
booktitle = "Proc 90 IEEE Int Conf Rob Autom",
note = "Proceedings of the 1990 IEEE International Conference on Robotics and Automation ; Conference date: 13-05-1990 Through 18-05-1990",
}