A linear space of admittance control laws that guarantees force-assembly with friction
A linear space of admittance control laws that guarantees force-assembly with friction
复制标题
保证摩擦力装配的导纳控制定律的线性空间
DOI：
10.1109/70.631227
复制
发表时间：
1997
期刊：
影响因子：
--
通讯作者：
J. Schimmels
中科院分区：
文献类型：
--
作者：
J. Schimmels
力装配已被定义为一个装配过程，其中使用一个单一的，适当设计的，导纳控制法将保证正确的装配一对给定的配合部分。在以前的工作中，在工件到夹具插入，一个机械手的住宿控制法，确保正确的插入，尽管无穷小的位置误差和有限（但有界）的摩擦的条件已被确定。通过使用优化程序，可以获得在摩擦最大值或低于摩擦最大值时满足这些力组装条件的控制律。然而，这个单一的控制律并不是唯一的，存在许多其他的控制律，它们在相同的摩擦力值下满足力集合的条件。本文讨论了识别和建设的线性空间的住宿控制律参数，确保力组件的摩擦。首先，线性充分条件，确保力组件与摩擦确定。然后对这些线性充分条件进行修正，将N/sup 2/+N维调节控制律参数空间分成N+1个不同的N维子空间。提出了一种有效生成基标称速度矢量和基适应矩阵的方法。使用标称速度基向量的任何正线性组合选择的标称速度和使用调节基矩阵的任何正线性组合选择的调节矩阵将保证力组装（对于小于在生成基矩阵中使用的摩擦值的任何摩擦值）。每个住宿控制律子空间的建设的一个平面的例子，并说明了夹具任务的几何形状。
Force-assembly has been defined as an assembly process for which the use of a single, properly designed, admittance control law will guarantee the proper assembly of a given pair of mating parts. In previous work in workpart-into-fixture insertion, the conditions on a manipulators accommodation control law that ensure proper insertion despite infinitesimal positional error and finite (but bounded) friction have been identified. Through the use of an optimization routine, a control law that satisfies these force-assembly conditions at or below a friction maximum value can be obtained. This single control law, however, is not unique-there exists many other control laws that will satisfy the conditions of force-assembly at the same value of friction. This paper addresses the identification and construction of a linear space of accommodation control law parameters that ensure force-assembly with friction. First, linear sufficient conditions that ensure force-assembly with friction are identified. These linear sufficient conditions are then modified to separate the N/sup 2/+N dimensional space of accommodation control law parameters into N+1 different N-dimensional subspaces. A means of efficiently generating basis nominal velocity vectors and basis accommodation matrices is presented. A nominal velocity selected using any positive linear combination of the nominal velocity basis vectors and an accommodation matrix selected using any positive linear combination of the accommodation basis matrices will guarantee force-assembly (for any value of friction less than that used in generating the basis matrices). A planar example of the construction of each accommodation control law subspace is presented and illustrated in the geometry of the fixturing task.