A methodology for specifying and controlling compliant robot motion

1 December 1986

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

p. 1871-1876
https://doi.org/10.1109/cdc.1986.267313

Abstract

A methodology is developed to integrate a sixdimensional force/torque sensor into a robot programming and control system. It consists of : [1] a formalism for specifying compliant motion tasks, based on orthogonal task frames with force, velocity, and tracking directions, and provided with tools to model the task kinematics; [2] a strategy for the task execution which makes use of external control loops closed around the robot positioning system. Several experiments show the applicability of the methodology.

Keywords

MOTION CONTROL
ROBOT CONTROL
ROBOT MOTION
FORCE SENSORS
FORCE CONTROL
SENSOR SYSTEMS
ROBOT PROGRAMMING
TORQUE CONTROL
CONTROL SYSTEMS
TRACKING LOOPS

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