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A methodology for specifying and controlling compliant robot motion

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2 Author(s)
De Schutter, J. ; Katholieke Universiteit Leuven, Heverlee, Belgium ; Van Brussel, H.

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.

Published in:

Decision and Control, 1986 25th IEEE Conference on

Date of Conference:

10-12 Dec. 1986