Design of Spatial Admittance for Force-Guided Assembly of Polyhedral Parts in Single Point Frictional Contact
Shuguang Huang,Joseph M. Schimmels,Shuguang Huang,Joseph M. Schimmels
This paper identifies conditions for designing the appropriate spatial admittance to achieve reliable force-guided assembly of polyhedral parts for cases in which a single frictional contact occurs between the two parts. This work is an extension of previous work in which frictionless contact was considered. This paper presents a way to characterize friction without solving a set of complicated no...
