Layanan journal yang disediakan oleh Perpustakaan Universitas Gunadarma
| Judul Artikel | : | Sufficient Conditions used in Admittance Selections for Force-Guided Assembly of Polygonal Parts |
|---|---|---|
| Judul Terbitan | : | IEEE Transactions On Robotics And Automation |
| ISSN | : | 1042296X |
| Bahasa | : | ENG |
| Tempat Terbit | : | New - York |
| Tahun | : | 0000 |
| Volume | : | Vol. 19 Issue 4 0000 |
| Penerbit | : | IEEE |
| Frekuensi Penerbitan | : | |
| Penulis | : | Shuguang Huang, Joseph M. Schimmels |
| Abstraksi | : | Admittance control approaches show significant promise in viding reliable force-guided assembly. An important issue in the devel nt of these approaches is the specification of an appropriate admit ce control law. This paper identifies procedures for selecting the ap priate admittance to achieve reliable force-guided assembly of planar yhedral parts for single-point contact cases. A set of conditions that are ed on the admittance matrix is presented. These conditions ensure t the motion that results from contact reduces part misalignment. We w that, for bounded misalignments, if an admittance satisfies the mis ment-reduction conditions at a finite number of contact configura then the admittance will also satisfy the conditions at all intermediate configurations. |
| Kata Kunci | : | Admittance; assembly; compliance selection. |
| Lokasi | : | p. 737 |
| Terakreditasi | : | belum |