Force-assembly with friction
- 1 January 1994
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics and Automation
- Vol. 10 (4) , 465-479
- https://doi.org/10.1109/70.313097
Abstract
If an admittance control law is properly designed, a workpiece can be guided into a fixture using only the contact forces for guidance (force-assembly). Previously, we have shown that: 1) a space of accommodation control laws that will ensure force-assembly without friction always exists, and 2) as friction is increased, a control law that allows force-assembly can be obtained as long as the forces associated with positional misalignment are characteristic. A single accommodation control law that allows force-assembly at the maximum value of friction can be obtained by an optimization procedure.Keywords
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