The robustness of an admittance control law designed for force guided assembly to the disturbance of contact friction

Joseph M. Schimmels*, Michael A. Peshkin

*Corresponding author for this work

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

5 Scopus citations

Abstract

The design of an admittance control law for reliable force-guided assembly is addressed. The overall objective is to design the manipulator's mechanical performance so that, at each possible bounded part misalignment, the contact force always leads to a motion that alleviates the misalignment. The implementation of such an approach using a single nominal velocity and a single admittance function is referred to as force-assembly. Previous work addressing force-assembly of a workpiece into a fixture has shown that when workpiece/fixture contact is frictionless there always exists an admittance control law that will ensure the proper insertion of a workpiece into a deterministic future. The authors discuss the identification of the condition that must be satisfied for force-assembly with friction and the optimization of the admittance control law to obtain the maximum value of friction that will satisfy the force-assembly conditions for a given workpiece-fixture combination.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages2361-2366
Number of pages6
ISBN (Print)0818627204
StatePublished - Dec 1 1992
EventProceedings of the 1992 IEEE International Conference on Robotics and Automation - Nice, Fr
Duration: May 12 1992May 14 1992

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume3

Other

OtherProceedings of the 1992 IEEE International Conference on Robotics and Automation
CityNice, Fr
Period5/12/925/14/92

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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