This paper describes a new method for designing admittance for spatial parts assembly with finite positioning errors and friction between the parts. First, how the admittance is described and how it should be designed or discussed to introduce the concept of the design approach. Then, the details of the admittance design method are presented. Finally, the design method is applied to a mating task to show the effectiveness of the proposed method.
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Shimizu et al. (2004) studied this question.
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