Name
Abstract | ||
|---|---|---|
We explore the characteristics of secondary contacts when applying forces with the end-effector of a robot and address the question when these secondary contacts can increase maximum applicable end-effector forces or reduce required actuator efforts. To this end, we formalize the effect of such secondary contacts in terms of required actuator efforts and derive efficiency bounds depending on the contact characteristics and robot configuration. Our findings are confirmed by experiments with a redundant serial manipulator. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/ICRA.2019.8794027 | 2019 International Conference on Robotics and Automation (ICRA) |
Keywords | Field | DocType |
environment contacts,serial manipulators,redundant serial manipulator,robot configuration,end-effector forces,actuator | Kinematics,Control theory,Control engineering,Robot end effector,Engineering,Serial manipulator,Robot,Actuator | Conference |
Volume | Issue | ISSN |
2019 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
978-1-5386-8176-3 | 0 | 0.34 |
References | Authors | |
10 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Pouya Mohammadi | 1 | 2 | 2.07 |
| Daniel Kubus | 2 | 48 | 9.02 |
| Jochen J. Steil | 3 | 910 | 87.50 |