Name
Abstract | ||
|---|---|---|
Methods to detect the contact state of an end-effector and the environment by force sensing, which is a useful technique for very small motions, are described. One method estimates the position of the contact point, while another method detects the transition of the contact state. These methods are implemented on an edge-mating task. The contact position is estimated with two sets of observed relative force and moment, and the forces to be applied for the estimation are determined based on the singular value decomposition technique. Transition detection is achieved by monitoring the relation between observed force and moment. Experiments demonstrate the effectiveness of this technique, which is robust against force noise caused by friction and the characteristics of the manipulator control |
Year | DOI | Venue |
|---|---|---|
1993 | 10.1109/ROBOT.1993.291877 | ICRA (2) |
Keywords | Field | DocType |
manipulator control,friction,transition detection,assembling,edge mating task,observed relative force,contact state,observed relative moment,force noise,force control,force sensing,end-effector,contact point,industrial manipulators,singular value decomposition,torque,robust control,end effector,shape | Singular value decomposition,Control theory,Manipulator,Control engineering,Engineering | Conference |
Citations | PageRank | References |
19 | 1.42 | 7 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kosei Kitagaki | 1 | 297 | 32.29 |
| Tsukasa Ogasawara | 2 | 483 | 81.55 |
| Takashi Suehiro | 3 | 559 | 73.63 |