Shape recovery from robot contour-tracking with force feedback

Author

Ahmad, Shaheen ; Lee, Chuan N.

Author_Institution

Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA

fYear

1990

fDate

13-18 May 1990

Firstpage

447

Abstract

A process for shape recovery from robot contour-tracking operations with force feedback is described. Shape recovery is an important task for self-teaching robots and for exploratory operations in unknown environments. An algorithm which directs a position controlled robot around an unknown planar contour using the steady-state contact force information is described. A compensation process is explored for purposes of planar shape recovery. It is found through experimentation that the joint compliance is most conveniently compensated for in practice. Improvements in the shapes recovered from robot contouring are seen with the compensations. Experimental details and difficulties are also discussed

Keywords

feedback; position control; robots; compensation process; force feedback; joint compliance; position controlled robot; robot contour-tracking; self-teaching robots; shape recovery; unknown environments; End effectors; Force control; Force feedback; Force measurement; Gears; Probes; Robot control; Robot kinematics; Robot sensing systems; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Conference_Location

Cincinnati, OH

Print_ISBN

0-8186-9061-5

Type

conf

DOI

10.1109/ROBOT.1990.126018

Filename

126018