Compliance Viewed as Programming a Damped Spring
نویسنده
چکیده
Parts mating often requires the use of compliant motions, which cause an object in the grasp of a robot to slide along obstacles in its environment. This paper is about the interface between a compliant motion progra mming system and a compliant motion control system. We propose that in this interface the robot can be modeled as a damped spring. This model allows the programmin g system to specify and reason about compliant motions without worrying about lowlevel control details. The utility of the damped spring model is demonstrated by applications in teaching and planning of compliant motion strategies. This paper is about the programmin g system, and in
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