Abstract :
A motion primitive for use in compliant motion robot task execution is described. The primitive has a rich input parameter set to provide for execution of a variety of specific tasks such as door opening, crank turning, bolt seating and turning, pushing, sliding, pin insertion/removal, and leveling, as well as termination conditions which specify conditions for ending the motion, such as allowable position and force error bounds. A split rate force control technique is used for force control. Force and torque data from a six-axis force sensor are read, and gravity compensation using load mass properties is done to determine contact forces
Keywords :
force control; robots; telecontrol; bolt seating; bolt turning; compliant motion task description; crank turning; door opening; force error bounds; gravity compensation; input parameter set; leveling; load mass properties; motion primitive; pin insertion; pin removal; pushing; robot task execution; six-axis force sensor; sliding; split rate force control technique; telerobotic system; torque data;
