Sufficient conditions used in admittance selection for force-guided assembly of polygonal parts
Sufficient conditions used in admittance selection for force-guided assembly of polygonal parts
复制标题
多边形零件力引导装配导纳选择的充分条件
DOI：
10.1109/tra.2003.814498
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
J. Schimmels
中科院分区：
文献类型：
--
作者：
Shuguang Huang;J. Schimmels
导纳控制方法在提供可靠的力引导装配方面显示出巨大的前景。这些方法发展中的一个重要问题是适当的准入控制律的规范。本文确定了选择适当导纳的程序，以实现单点接触情况下平面多面体零件的可靠力引导装配。提出了施加在导纳矩阵上的一组条件。这些条件确保接触产生的运动减少零件不对中。我们证明，对于有界失准，如果导纳在有限数量的接触配置下满足失准减少条件，那么导纳也将满足所有中间配置的条件。
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 will also satisfy the conditions at all intermediate configurations.