Synthesis and validation of nondiagonal accommodation matrices for error-corrective assembly

摘要

A methodology is described by which erroneous contact configurations for a given task are used to synthesize an appropriate accommodation matrix (either diagonal or nondiagonal) such that the motions which result from contact with the environment are error corrective. The methodology is verified by the synthesis and experimental validation of a nondiagonal accommodation matrix sufficient for an error-corrective place-in-detent robotic assembly operation, an operation that fails if a diagonal accommodation matrix is used.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>