Paper Info
Title
A Practical Approach To Generalized Hierarchical Task Specification For Indirect Force Controlled Robots
Abstract
The main contribution of this paper is the general formulation of force and positioning tasks on joint and Cartesian level for indirect force controlled robots and combining them in a strict hierarchical way. As a secondary contribution, we provide a simple and intuitive programming paradigm, using the developed formulation.By building on the well-established indirect force control scheme, which is often already provided for commercial robots, we provide application programmers with a useful tool for specifying tasks, involving positioning and force components.Different physical interaction tasks have been implemented to show the potential of the proposed method and discuss the general advantages and drawbacks.
Year
DOI
Venue
2013
10.1109/IROS.2013.6696601
2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Keywords
Field
DocType
formal specification
Physical interaction,Programming paradigm,Computer science,Formal specification,Control engineering,Robot,Robot programming,Cartesian coordinate system
Conference
ISSN
Citations 
PageRank 
2153-0858
2
0.40
References 
Authors
11
2
Name
Order
Citations
PageRank
Ewald Lutscher1192.90
Gordon Cheng21250115.33