DocumentCode
3034305
Title
Multi-contact compliant motion control for robotic manipulators
Author
Park, Jaeheung ; Cortesão, Rui ; Khatib, Oussama
Author_Institution
Robotics Group, Stanford Univ., CA, USA
Volume
5
fYear
2004
fDate
26 April-1 May 2004
Firstpage
4789
Abstract
The paper describes the formulation of multi-contact compliant motion control. It extends our previous work to non-rigid environments. The contact forces are controlled through active observers (AOB), based on the Kalman filter theory. Noise characteristics enter in the control design and are estimated on-line. Experimental results are provided.
Keywords
Kalman filters; compliance control; control system synthesis; force control; manipulators; motion control; observers; Kalman filter theory; active observers; compliant motion control; contact forces; robotic manipulators; Contacts; Control design; Force control; Manipulators; Matrix decomposition; Motion control; Orbital robotics; Robotic assembly; Robots; Working environment noise;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1302476
Filename
1302476
Link To Document