Synthesis and validation of non-diagonal accommodation matrices for error-corrective assembly

Joseph M. Schimmels*, Michael Peshkin

*Corresponding author for this work

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

14 Scopus citations

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.

Original languageEnglish (US)
Title of host publicationProc 90 IEEE Int Conf Rob Autom
PublisherPubl by IEEE
Pages714-719
Number of pages6
ISBN (Print)0818620617
StatePublished - Dec 1 1990
EventProceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA
Duration: May 13 1990May 18 1990

Publication series

NameProc 90 IEEE Int Conf Rob Autom

Other

OtherProceedings of the 1990 IEEE International Conference on Robotics and Automation
CityCincinnati, OH, USA
Period5/13/905/18/90

ASJC Scopus subject areas

  • Engineering(all)

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