Title :
Position/force control of a robot manipulator over an unknown surface
Author_Institution :
Dept. of Eng., Purdue Univ. Calumet, Hammond, IN, USA
Abstract :
The position and force degrees of freedom are specified for unknown constraint surfaces, depending on the type of contact. Three types of contact (point, line, and plane) are considered. The determination of the type of contact is based on the point of contact, which is calculated from information received from a wrist force/torque sensor. An example is presented to demonstrate the technique
Keywords :
force control; manipulators; position control; force control; line contact; plane contact; point contact; position control; robot manipulator; wrist force/torque sensor; Force control; Force measurement; Force sensors; Grippers; Intelligent robots; Intelligent sensors; Manipulators; Robotic assembly; Velocity measurement; Wrist;
Conference_Titel :
Systems, Man and Cybernetics, 1992., IEEE International Conference on
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-0720-8
DOI :
10.1109/ICSMC.1992.271638
