Name
Abstract | ||
|---|---|---|
This paper present a human-inspired compliant surface to surface alignment method for robotic manipulators. The surface alignment task is break down into several stages, a) make a point contact, b) alignment of point-contact to line-contact, and finally c) surface to surface alignment. The proposed controller is a combination of impedance control with rotational controllers that are activated based on the force sensing from the robot. We evaluate the performance of the proposed controller on a set of robot experiments using a 7-DOF KUKA iiwa robot on an inclined surface with different angles. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1145/3029610.3029618 | ICCMA |
Field | DocType | Citations |
Control theory,Point contact,Control theory,Simulation,Electrical impedance,Impedance control,Engineering,Robot manipulator,Robot | Conference | 0 |
PageRank | References | Authors |
0.34 | 1 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yang, Y. | 1 | 21 | 1.92 |
| Masood Dehghan | 2 | 1 | 1.37 |
| Marcelo H. Ang | 3 | 775 | 98.60 |