• DocumentCode
    3079894
  • Title

    A methodology for specifying and controlling compliant robot motion

  • Author

    De Schutter, Joris ; Van Brussel, H.

  • Author_Institution
    Katholieke Universiteit Leuven, Heverlee, Belgium
  • fYear
    1986
  • fDate
    10-12 Dec. 1986
  • Firstpage
    1871
  • Lastpage
    1876
  • Abstract
    A methodology is developed to integrate a sixdimensional force/torque sensor into a robot programming and control system. It consists of : [1] a formalism for specifying compliant motion tasks, based on orthogonal task frames with force, velocity, and tracking directions, and provided with tools to model the task kinematics; [2] a strategy for the task execution which makes use of external control loops closed around the robot positioning system. Several experiments show the applicability of the methodology.
  • Keywords
    Control systems; Force control; Force sensors; Motion control; Robot control; Robot motion; Robot programming; Sensor systems; Torque control; Tracking loops;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1986 25th IEEE Conference on
  • Conference_Location
    Athens, Greece
  • Type

    conf

  • DOI
    10.1109/CDC.1986.267313
  • Filename
    4049119
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3079894