Admittance Selection for Spatial Force-Guided Assembly

这项拟议的工作解决了可靠的机器人组装问题。该项目寻求开发强大的计算机技术，以确保进行6d空间运动的3D多面体部件的正确组装。这项工作将在定制辅助设计软件中达到顶峰，该软件能够1)评估是否可以仅使用接触力作为环境输入来可靠地组装两个部件，以及2)产生指定任务的“最佳导纳”行为的描述。

The proposed work addresses the problem of reliable robotic assembly. The project seeks to develop powerful computer techniques to ensure proper assembly of 3D polyhedral parts undergoing 6d spatial motions. The work will culminate in custom-aided-design software capable of 1) assessment of whether two parts can be reliably assembled using only contact forces as environmental input, and 2) producing a description of the "best admittance" behavior for the specified task.