DocumentCode
324053
Title
Modelling and specification of compliant motions with two and three contact points
Author
Bruyninckx, Herman ; De Schutter, Joris
Author_Institution
Dept. of Mech. Eng., Katholieke Univ., Leuven, Belgium
Volume
3
fYear
1998
fDate
16-20 May 1998
Firstpage
1938
Abstract
This paper describes the modelling and motion specification of compliant motion tasks with two or three contact points. These tasks cannot be done with Mason´s (1981) classical “taskframe” (TF) or “compliance frame” approach. Hence, a more flexible and versatile motion constraint model is introduced, that maintains most of the intuitiveness of the TF approach
Keywords
compliance control; robots; compliant motions; force control; motion specification; robots; Chemicals; Force control; Mechanical engineering; Motion control; Orbital robotics; Robot kinematics; Solid modeling; Strain control; Tracking; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.680597
Filename
680597
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