Controlling contact transition

Successful control of contact transitions is an important capability of dextrous robotic manipulators. We examine several methods for controlling the transition from free motion to constrained motion, with an emphasis on minimizing end-effector load oscillations during the transition. A new approach, based on input command shaping, is discussed and compared with several methods developed in prior research. The various techniques were evaluated on a one-axis impact testbed, and we present results from those experiments. The input shaping method was found to be comparable, and in some cases superior, to existing techniques of contact transition control.<>