Programmed compliance for error corrective assembly
Programmed compliance for error corrective assembly
复制标题
纠错装配的编程合规性
DOI：
10.1109/70.59358
复制
发表时间：
1990
期刊：
影响因子：
--
通讯作者：
M. Peshkin
中科院分区：
文献类型：
--
作者：
M. Peshkin
解决了以下问题。假设在装配任务开始之前，可以通过提供在操作期间使用的单一柔度(或阻尼)矩阵来随意指定机械手对装配力的响应。是否可以选择矩阵元素，以使表征每种可能的错误条件的力映射为减少它的运动？如果是这样的话，可以肯定的是，操作将朝着减少错误和最终成功的方向发展。描述了一种纠错矩阵的综合框架和方法。>；
The following problem is addressed. Suppose that before an assembly task commences, one can specify at will the manipulator's response to assembly forces by providing a single compliance (or damping) matrix to be used for the duration of the operation. Can one choose the matrix elements so that the force that characterizes every possible error condition maps into a motion that reduces it? If so, it is assured that the operation will evolve toward decreased errors and eventual success. A framework and a method of synthesis for an error-corrective matrix are described. >