Title:
Contact Control for Advanced Applications of Light Weight Arms

dc.contributor.author Book, Wayne J.
dc.contributor.author Kwon, Dong-Soo
dc.contributor.corporatename Georgia Institute of Technology. School of Mechanical Engineering
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.contributor.corporatename Oak Ridge National Laboratory. Robotics and Process Systems Division
dc.date.accessioned 2011-06-22T13:54:35Z
dc.date.available 2011-06-22T13:54:35Z
dc.date.issued 1992
dc.description © 1992 Kluwer Academic Publishers
dc.description.abstract Many applications of robotic and teleoperated manipulator arms require operation in contact and noncontact regimes. This paper deals with both regimes and the transition between them with special attention given to problems of flexibility in the links and drives. This is referred to as contact control. Inverse dynamics is used to plan the tip motion of the flexible link so that the free motion can stop very near the contact surface without collision due to overshoot. Contact mus occur at a very low speed since the high frequency impact forces are too sudden to be affected by any feedback generated torques applied to a joint at the other end of the link. The effects of approach velocity and surface properties are discussed. Force tracking is implemented by commands to the deflection states of the link and the contact force. This enable a natural transition between tip position and tip force control that is not possible when the arm is treated as rigid. The effects of feedback gain, force trajectory, and desired final force level are of particular interest and are studied. Experimental results are presented on a one-link arm and the system performance in the overall contact task is analyzed. Extension to multi-link cases with potential applications are discussed. en_US
dc.identifier.citation Book, W.J., and Kwon, D.S., "Contact Control for Advanced Applications of Light Weight Arms," Journal of Intelligent and Robotic Systems, Vol. 6, No. 1, 1992. en_US
dc.identifier.issn 0921-0296
dc.identifier.uri http://hdl.handle.net/1853/39276
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Kluwer Academic Publishers
dc.subject Inverse dynamics en_US
dc.subject Flexible manipulators en_US
dc.subject Contact force en_US
dc.subject Impact en_US
dc.subject Trajectory en_US
dc.subject Tracking en_US
dc.title Contact Control for Advanced Applications of Light Weight Arms en_US
dc.type Text
dc.type.genre Article
dspace.entity.type Publication
local.contributor.author Book, Wayne J.
local.contributor.corporatename George W. Woodruff School of Mechanical Engineering
local.contributor.corporatename College of Engineering
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
relation.isAuthorOfPublication 45966a3c-59ea-44fc-980a-96d543c035f0
relation.isOrgUnitOfPublication c01ff908-c25f-439b-bf10-a074ed886bb7
relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
relation.isOrgUnitOfPublication 66259949-abfd-45c2-9dcc-5a6f2c013bcf
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