Title:
Contact Control for Advanced Applications of Light Weight Arms
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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