@inproceedings{6c80a31ec2ea467cb556894e4294fc53,
title = "The robustness of an admittance control law designed for force guided assembly to the disturbance of contact friction",
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.",
author = "Schimmels, {Joseph M.} and Peshkin, {Michael A.}",
year = "1992",
month = dec,
day = "1",
language = "English (US)",
isbn = "0818627204",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Publ by IEEE",
pages = "2361--2366",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",
note = "Proceedings of the 1992 IEEE International Conference on Robotics and Automation ; Conference date: 12-05-1992 Through 14-05-1992",
}