Title :
Kinematic models of rigid body interactions for compliant motion tasks in the presence of uncertainties
Author :
Bruyninckx, Herman ; De Schutter, Joris
Author_Institution :
Dept. of Mech. Eng., Katholieke Univ. Leuven, Heverlee, Belgium
Abstract :
A model-based approach to the compliant motion problem is carried out by modeling any motion constraint by means of virtual manipulators having the same freedom of motion as the manipulated object. The resulting models are simple and intuitive. The models are flexible because they include descriptions of the first and second order geometry of the motion constraint, as well as its uncertainties, and efficient because they allow the online identification of these uncertainties
Keywords :
kinematics; robots; compliant motion tasks; kinematic models; motion constraint; online identification; rigid body interactions; uncertainties; virtual manipulators; Computational geometry; Force control; Force measurement; Kinematics; Mechanical engineering; Motion control; Motion measurement; Robot control; Solid modeling; Uncertainty;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292107
