Compliance contact force control of robotic manipulator for ultrasonic testing.
نویسندگان
چکیده
منابع مشابه
Robotic Assembly and Contact Force Control
Modern industrial robots are traditionally programmed to follow desired trajectories, with the only feedback coming from the internal position/angle sensors in the joints. The robots are in general very accurate in tracking the desired motion, and they have become indispensable in many applications, such as spot welding and painting in the automotive industry. In more complex tasks, such as phy...
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The ARM is a 6 DOF robotic manipulator used by disabled people with a severe handicap at the upper extremities The present ARM is position and velocity controlled. The desired position of the robot is given by the user. However, in constraint scenario's, manipulation becomes too difficult and an assistant-controller is wanted. This assistant is based on external forces on the gripper of the rob...
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ژورنال
عنوان ژورنال: Journal of the Atomic Energy Society of Japan / Atomic Energy Society of Japan
سال: 1991
ISSN: 0004-7120
DOI: 10.3327/jaesj.33.90