Title :
Coordinated complaint motion
Author :
Crochetiere, W.J. ; Johnson, T.L.
Author_Institution :
Tufts University, Medford, MA
Abstract :
A new method for the control of compliant motion in robots during operations such as part mating is described. Greater simplicity is achieved by not relying on a conventional single joint servo design. The parametrization of the compliance controller is selected to provide a clean interface between a higher-level language and the natural mechanical variables of part mating in task-oriented coordinates. The limitations of existing robot designs for the effective implementation of compliance control are discussed.
Keywords :
Hafnium; Hybrid integrated circuits; Motion control; Radio access networks; Read only memory; Tellurium;
Conference_Titel :
Decision and Control, 1983. The 22nd IEEE Conference on
Conference_Location :
San Antonio, TX, USA
DOI :
10.1109/CDC.1983.269781
