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Sufficient Conditions For Admittance To Ensure Planar Force-Assembly In Multi-Point Frictionless Contact, Shuguang Huang, Joseph M. Schimmels
Sufficient Conditions For Admittance To Ensure Planar Force-Assembly In Multi-Point Frictionless Contact, Shuguang Huang, Joseph M. Schimmels
Mechanical Engineering Faculty Research and Publications
An important issue in the development of force guidance assembly strategies is the specification of an appropriate admittance control law. This paper identifies procedures for selecting the appropriate admittance to achieve reliable planar force-guided assembly for multi-point contact cases. Conditions that restrict the admittance behavior for each of the various types of two-point contact are presented. These conditions ensure that the motion that results from contact reduces part misalignment for each case. We show that, for bounded misalignments, if the conditions are satisfied for a finite number of contact configurations, the conditions ensure that force guidance is achieved for all …
Admittance Selection For Planar Force-Guided Assembly For Single-Point Contact With Friction, Shuguang Huang, Joseph M. Schimmels
Admittance Selection For Planar Force-Guided Assembly For Single-Point Contact With Friction, Shuguang Huang, Joseph M. Schimmels
Mechanical Engineering Faculty Research and Publications
This paper identifies procedures for selecting the appropriate admittance to achieve reliable planar force-guided assembly for single-point frictional contact cases. A set of conditions that are imposed on the admittance matrix is presented. These conditions ensure that the motion that results from contact reduces part misalignment. We show that, for bounded misalignments, if an admittance satisfies the misalignment-reduction conditions at a finite number of contact configurations and a given coefficient of friction /spl mu//sub M/) then the admittance will also ensure that the conditions are satisfied at all intermediate configurations for all coefficients less than /spl mu//sub M/.
Sufficient Conditions Used In Admittance Selection For Force-Guided Assembly Of Polygonal Parts, Shuguang Huang, Joseph M. Schimmels
Sufficient Conditions Used In Admittance Selection For Force-Guided Assembly Of Polygonal Parts, Shuguang Huang, Joseph M. Schimmels
Mechanical Engineering Faculty Research and Publications
Admittance control approaches show significant promise in providing reliable force-guided assembly. An important issue in the development of these approaches is the specification of an appropriate admittance control law. This paper identifies procedures for selecting the appropriate admittance to achieve reliable force-guided assembly of planar polyhedral parts for single-point contact cases. A set of conditions that are imposed on the admittance matrix is presented. These conditions ensure that the motion that results from contact reduces part misalignment. We show that, for bounded misalignments, if an admittance satisfies the misalignment-reduction conditions at a finite number of contact configurations, then the admittance …