منابع مشابه
On the Robot Compliant Motion Control
The work presented here is a nonlinear approach for the control and stability analysis of manipulative systems in compliant maneuvers. Stability of the environment and the manipulator taken as a whole has been investigated using unstructured models for the dynamic behavior of the robot manipulator and the environment, and a bound for stable manipulation has been derived. We show that for stabil...
متن کاملActive Compliant Motion Control for Grinding Robot
A grinding robot system is presented in this paper. Active compliant motion control is applied to keep contacting between grinding tool and work pieces and auto surface tracking algorithm was developed to trace the outline of work-pieces. For real implementation of the system, the shape of work pieces are informed through barcode and the piece’s dimension is measured with a laser distance senso...
متن کاملRobust Hybrid Motion Force Control Algorithm for Robot Manipulators
In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...
متن کاملLearning Motion Patterns of People for Compliant Robot Motion
Whenever people move through their environments they do not move randomly. Instead, they usually follow specific trajectories or motion patterns corresponding to their intentions. Knowledge about such patterns enables a mobile robot to robustly keep track of persons in its environment and to improve its behavior. In this paper we propose a technique for learning collections of trajectories that...
متن کاملAdaptive Decentralized Compliant Control of Robot Manipulators
In this paper, we develop an adaptive decentralized compliant control of robot manipulator. The robot manipulator is in contact with the environment and the contact force is normal to the contact plane. When the environment stiffness is given, an adaptive decentralized compliant controller is designed based on a Lyapunov based method such that both the force tracking error and the complementary...
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ژورنال
عنوان ژورنال: Journal of Dynamic Systems, Measurement, and Control
سال: 1989
ISSN: 0022-0434,1528-9028
DOI: 10.1115/1.3153070