Title :
Causality and robotic contact tasks problem
Author :
Payandeh, Shahram
Author_Institution :
Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada
Abstract :
A formal approach is used to postulate a model of a manipulator in contact with a rigid environment, and a control problem encountered in robotic contact tasks is defined. The model is obtained using elementary causal representation of mechanical elements; springs and dampers are connected between the end-point of the manipulator and the rigid environment. The control problem is stated as the stable control of velocities and contacting forces of the end-point of the manipulator, and a solution approach is discussed
Keywords :
force control; manipulators; stability; velocity control; contacting forces; dampers; elementary causal representation; manipulator; mechanical elements; rigid environment; robotic contact tasks; springs; stable control; velocity control; Damping; Force control; Manipulators; Orbital robotics; Robots; Shock absorbers; Solid modeling; Springs; Telerobotics; Velocity control;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
