By Topic

Teaching and control of robot contour-tracking using contact point detection

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Shin-yo Muto ; Autonomous Robot Syst. Lab., NTT Human Interface Labs., Tokyo, Japan ; Shimokura, K.-i.

New methods for teaching and controlling contour-tracking tasks based on contact sensing are developed to improve robotic machining. Accurate contact point detection is introduced to estimating a work contour path with high reliability. These teaching methods reduce the effort for task teaching and improve adaptability to handle changes in task specifications without re-teaching. Real-time contour tracking control using this contact sensing to suppress work uncertainties in process is presented. Experimental results for practical grinding tasks using a 6 DOF manipulator validate our methods

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994