Sufficient conditions used in admittance selection for force-guided assembly of polygonal parts

@article{Huang2003SufficientCU,
  title={Sufficient conditions used in admittance selection for force-guided assembly of polygonal parts},
  author={Shuguang Huang and Joseph M. Schimmels},
  journal={IEEE Trans. Robotics and Automation},
  year={2003},
  volume={19},
  pages={737-742}
}
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… CONTINUE READING
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