Admittance selection for force-guided assembly of polygonal parts despite friction

An important issue in the development of force guidance assembly strategies is the specification of an appropriate admittance control law. This paper identifies conditions to be satisfied when selecting the appropriate admittance to achieve force-guided assembly of polygonal parts for multipoint contact with friction. These conditions restrict the admittance behavior for each of the various one-point and two-point contact cases and ensure that the motion that results from contact reduces part misalignment for each case. We show that, for bounded friction and part misalignments, if the identified conditions are satisfied for a finite number of contact configurations and friction coefficients, the conditions ensure that force guidance is achieved for all configurations and values of friction within the specified bounds.

[1]  Cleve Moler,et al.  Mathematical Handbook for Scientists and Engineers , 1961 .

[2]  H. Harry Asada,et al.  Representation and learning of nonlinear compliance using neural nets , 1993, IEEE Trans. Robotics Autom..

[3]  Shuguang Huang,et al.  Sufficient conditions used in admittance selection for force-guided assembly of polygonal parts , 2003, IEEE Trans. Robotics Autom..

[4]  Daniel E. Whitney,et al.  Quasi-Static Assembly of Compliantly Supported Rigid Parts , 1982 .

[5]  Marcelo H. Ang,et al.  Specifying and achieving passive compliance based on manipulator structure , 1995, IEEE Trans. Robotics Autom..

[6]  Daniel E. Whitney,et al.  Force Feedback Control of Manipulator Fine Motions , 1977 .

[7]  Jan F. Broenink,et al.  A spatial impedance controller for robotic manipulation , 1997, IEEE Trans. Robotics Autom..

[8]  J. Duffy,et al.  On the Metrics of Rigid Body Displacements for Infinite and Finite Bodies , 1995 .

[9]  Michael A. Peshkin,et al.  Programmed compliance for error corrective assembly , 1990, IEEE Trans. Robotics Autom..

[10]  Shuguang Huang,et al.  Spatial Compliant Motion of a Rigid Body Constrained by a Frictional Contact , 2003, Int. J. Robotics Res..

[11]  Michael A. Peshkin,et al.  Force-assembly with friction , 1994, IEEE Trans. Robotics Autom..

[12]  Joseph M. Schimmels.  A linear space of admittance control laws that guarantees force-assembly with friction , 1997, IEEE Trans. Robotics Autom..

[13]  Michael A. Peshkin,et al.  Admittance matrix design for force-guided assembly , 1992, IEEE Trans. Robotics Autom..

[14]  Bernard Roth,et al.  An Extension of Screw Theory , 1981 .