Title :
Constrained motion control of robots with task constraints identification by US sensing
Author :
Allotta, Benedetto ; Chiaverini, Stefano
Author_Institution :
ARTS Lab., Scuola Superiore S. Anna, Pisa, Italy
Abstract :
The use of ultrasonic range sensing in constrained motion control of robots is investigated. An ultrasonic sensing system is integrated into a force/position control scheme and allows online identification of the motion constraints during contact with a partially unknown environment. Measurement of the relative distance of the end effector from the surface is used to obtain a fast but safe approach motion. A planar three-dimensional task space is considered in a case study; thus two translational/force components and one rotation/torque component are of interest. Experimental results on a PUMA-560 manipulator show the effectiveness of the scheme
Keywords :
computerised control; distance measurement; force control; identification; position control; robots; ultrasonic transducers; PUMA-560 manipulator; force/position control; motion control; online identification; planar 3D task space; robots; task constraints identification; ultrasonic range sensing; End effectors; Force control; Force measurement; Motion control; Motion measurement; Position control; Robot sensing systems; Switches; Torque; Ultrasonic variables measurement;
Conference_Titel :
Intelligent Control, 1992., Proceedings of the 1992 IEEE International Symposium on
Conference_Location :
Glasgow
Print_ISBN :
0-7803-0546-9
DOI :
10.1109/ISIC.1992.225136
