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- Publisher Website: 10.1109/ROBOT.2006.1642320
- Scopus: eid_2-s2.0-33845622946
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Conference Paper: An admittance design approach to dynamic assembly of polyhedral parts with uncertainty
Title | An admittance design approach to dynamic assembly of polyhedral parts with uncertainty |
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Authors | |
Issue Date | 2006 |
Citation | Proceedings - IEEE International Conference on Robotics and Automation, 2006, v. 2006, p. 4025-4030 How to Cite? |
Abstract | This paper proposes a systematic method of designing a robot admittance for dynamic assembly of generic polyhedral parts in the presence of positioning uncertainty between the parts. In particular, this paper discusses how to design an admittance that is suitable for high-speed assembly, where the effect of the part's inertia is dominant. First, an approach to designing the admittance is presented. Then, the detailed procedure of designing the admittance is described. Finally, the design method is applied to an assembly task to illustrate how it works. © 2006 IEEE. |
Persistent Identifier | http://hdl.handle.net/10722/302764 |
ISSN | 2023 SCImago Journal Rankings: 1.620 |
DC Field | Value | Language |
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dc.contributor.author | Shimizu, Masayuki | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.date.accessioned | 2021-09-07T08:42:32Z | - |
dc.date.available | 2021-09-07T08:42:32Z | - |
dc.date.issued | 2006 | - |
dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, 2006, v. 2006, p. 4025-4030 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302764 | - |
dc.description.abstract | This paper proposes a systematic method of designing a robot admittance for dynamic assembly of generic polyhedral parts in the presence of positioning uncertainty between the parts. In particular, this paper discusses how to design an admittance that is suitable for high-speed assembly, where the effect of the part's inertia is dominant. First, an approach to designing the admittance is presented. Then, the detailed procedure of designing the admittance is described. Finally, the design method is applied to an assembly task to illustrate how it works. © 2006 IEEE. | - |
dc.language | eng | - |
dc.relation.ispartof | Proceedings - IEEE International Conference on Robotics and Automation | - |
dc.title | An admittance design approach to dynamic assembly of polyhedral parts with uncertainty | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ROBOT.2006.1642320 | - |
dc.identifier.scopus | eid_2-s2.0-33845622946 | - |
dc.identifier.volume | 2006 | - |
dc.identifier.spage | 4025 | - |
dc.identifier.epage | 4030 | - |