Name
Abstract | ||
|---|---|---|
A sensor-based robot control technique for handling non-contact/transitions in a partially unknown environment is presented. Desired contacts with the environment were handled by integrating proximity and force/torque sensing information to improve efficiency in terms of speed and safety. By detecting in advance the target surface to be reached, the algorithm plans the trajectory to impose a smooth velocity profile during the approach, as well as to maintain the impact forces at the desired level by means of force control. A smooth transition between free and constrained motion control was obtained by means of weight functions depending on the measured distance between the robot end-effector and the target to be reached |
Year | DOI | Venue |
|---|---|---|
1992 | 10.1109/ROBOT.1992.219982 | Nice |
Keywords | Field | DocType |
force control,manipulators,planning (artificial intelligence),position control,end-effector,force control,force sensing,impact forces,impact handling,motion control,proximity,sensor-based robot control,trajectory planning,velocity profile | Robot control,Motion control,Torque,Control theory,Control engineering,Engineering,Robot,Trajectory | Conference |
Volume | Issue | ISBN |
1992 | 1 | 0-8186-2720-4 |
Citations | PageRank | References |
3 | 0.50 | 7 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Benedetto Allotta | 1 | 244 | 53.74 |
| Giorgio C. Buttazzo | 2 | 3633 | 238.00 |