An admittance design approach to dynamic assembly of polyhedral parts with uncertainty

Masayuki Shimizu; Kazuhiro Kosuge

doi:10.1109/ROBOT.2006.1642320

An admittance design approach to dynamic assembly of polyhedral parts with uncertainty

Masayuki Shimizu
, Kazuhiro Kosuge

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

2 Citations (Scopus)

Abstract

This paper proposes a systematic method of designing a robot admittance for dynamic assembly of generic polyhedral parts in the presence of positioning uncertainty between the parts. In particular, this paper discusses how to design an admittance that is suitable for high-speed assembly, where the effect of the part's inertia is dominant. First, an approach to designing the admittance is presented. Then, the detailed procedure of designing the admittance is described. Finally, the design method is applied to an assembly task to illustrate how it works. © 2006 IEEE.

Original language	English
Title of host publication	Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages	4025-4030
Volume	2006
DOIs	https://doi.org/10.1109/ROBOT.2006.1642320
Publication status	Published - 2006
Externally published	Yes
Event	2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: 15 May 2006 → 19 May 2006

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2006
ISSN (Print)	1050-4729

Conference

Conference	2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Place	United States
City	Orlando, FL
Period	15/05/06 → 19/05/06

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

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10.1109/ROBOT.2006.1642320

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Shimizu, M., & Kosuge, K. (2006). An admittance design approach to dynamic assembly of polyhedral parts with uncertainty. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (Vol. 2006, pp. 4025-4030). Article 1642320 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1642320

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title = "An admittance design approach to dynamic assembly of polyhedral parts with uncertainty",

abstract = "This paper proposes a systematic method of designing a robot admittance for dynamic assembly of generic polyhedral parts in the presence of positioning uncertainty between the parts. In particular, this paper discusses how to design an admittance that is suitable for high-speed assembly, where the effect of the part's inertia is dominant. First, an approach to designing the admittance is presented. Then, the detailed procedure of designing the admittance is described. Finally, the design method is applied to an assembly task to illustrate how it works. {\textcopyright} 2006 IEEE.",

author = "Masayuki Shimizu and Kazuhiro Kosuge",

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doi = "10.1109/ROBOT.2006.1642320",

language = "English",

isbn = "0780395069",

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Shimizu, M & Kosuge, K 2006, An admittance design approach to dynamic assembly of polyhedral parts with uncertainty. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. vol. 2006, 1642320, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2006, pp. 4025-4030, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 15/05/06. https://doi.org/10.1109/ROBOT.2006.1642320

An admittance design approach to dynamic assembly of polyhedral parts with uncertainty. / Shimizu, Masayuki; Kosuge, Kazuhiro.
Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. Vol. 2006 2006. p. 4025-4030 1642320 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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T1 - An admittance design approach to dynamic assembly of polyhedral parts with uncertainty

AU - Shimizu, Masayuki

AU - Kosuge, Kazuhiro

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 2006

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N2 - This paper proposes a systematic method of designing a robot admittance for dynamic assembly of generic polyhedral parts in the presence of positioning uncertainty between the parts. In particular, this paper discusses how to design an admittance that is suitable for high-speed assembly, where the effect of the part's inertia is dominant. First, an approach to designing the admittance is presented. Then, the detailed procedure of designing the admittance is described. Finally, the design method is applied to an assembly task to illustrate how it works. © 2006 IEEE.

AB - This paper proposes a systematic method of designing a robot admittance for dynamic assembly of generic polyhedral parts in the presence of positioning uncertainty between the parts. In particular, this paper discusses how to design an admittance that is suitable for high-speed assembly, where the effect of the part's inertia is dominant. First, an approach to designing the admittance is presented. Then, the detailed procedure of designing the admittance is described. Finally, the design method is applied to an assembly task to illustrate how it works. © 2006 IEEE.

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DO - 10.1109/ROBOT.2006.1642320

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 0780395069

SN - 9780780395060

VL - 2006

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 4025

EP - 4030

BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006

T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006

Y2 - 15 May 2006 through 19 May 2006

ER -

An admittance design approach to dynamic assembly of polyhedral parts with uncertainty

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