Name
Title | ||
|---|---|---|
On-line processing of position and force measures for contour identification and robot control |
Abstract | ||
|---|---|---|
The problem of controlling a robot whose task is to follow the profile of an unknown workpiece, with specified tangential velocity and normal force, is considered. At the same time, geometrical and physical characterizations of the workpiece are obtained as a byproduct. Local identification of the object shape must be achieved online since the control scheme requires the direction of normal and tangent spaces to the surface at each contact point. Information from position and force sensors is available but corrupted by noise. Moreover, elasticity at the contact and at the robot joints affects the accuracy of position measurements, and contact friction disturbs the geometrical informations obtained from force measurements. The control and the identification goals are obtained by processing both position and force measurements using a recursive-least-squares procedure. Experiments that validate the proposed identification scheme have been performed on a three-jointed robot arm |
Year | DOI | Venue |
|---|---|---|
1993 | 10.1109/ROBOT.1993.292009 | Atlanta, GA |
Keywords | Field | DocType |
force control,identification,least squares approximations,position control,robots,contact friction,contour identification,force control,normal spaces,position control,recursive-least-squares,robot control,tangent spaces,tangential velocity,three-jointed robot arm | Robotic arm,Control theory,Control engineering,Artificial intelligence,Normal force,Arm solution,Computer vision,Robot control,Identification scheme,Bang-bang robot,Engineering,Cartesian coordinate robot,Robot | Conference |
Citations | PageRank | References |
5 | 0.93 | 7 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Fedele, A. | 1 | 5 | 0.93 |
| Fioretti, A. | 2 | 5 | 0.93 |
| Manes, C. | 3 | 5 | 0.93 |
| Giovanni Ulivi | 4 | 242 | 22.77 |