Admittance Selection for Spatial Force-Guided Assembly

Marquette University, Milwaukee WI

Investigators

Abstract

The proposed work addresses the problem of reliable robotic assembly. The project seeks to develop powerful computer techniques to ensure proper assembly of 3D polyhedral parts undergoing 6d spatial motions. The work will culminate in custom-aided-design software capable of 1) assessment of whether two parts can be reliably assembled using only contact forces as environmental input, and 2) producing a description of the "best admittance" behavior for the specified task.