Adaptive accommodation control for complex assembly: theory and experiment

An adaptive accommodation control for complex assembly (CA) is presented. The CA is defined as a task whose assembled parts have complex geometry including concavity. The concept of the adaptive accommodation, which is inspired by the insertion operation of a blindfold human, is to adaptively change the accommodation property depending on the sensed contact wrench and the current target twist. Both the bounded wrench condition and the target approachability condition can be satisfied simultaneously by applying the adaptive accommodation control law. By using the convex optimization technique, an optimum target approaching twist with adaptive accommodation properly can be determined at each instantaneous contact state as a global minimum solution. A new adaptive accommodation control law, which is independent of part geometry, is developed without motion planning nor contact analysis procedure. A VME-bus based real-time control system is built to various CA tasks experiments.