DocumentCode
1983442
Title
Experimental identification of kinematic constraints
Author
Dupont, Pierre E. ; Schulteis, Timothy M. ; Howe, Robert D.
Author_Institution
Dept. of Aerosp. & Mech. Eng., Boston Univ., MA, USA
Volume
3
fYear
1997
fDate
20-25 Apr 1997
Firstpage
2677
Abstract
This paper proposes techniques for automatically identifying and modeling the kinematic constraints of manipulated objects. The existence of constraints is established by examination of the forces and torques normal and tangential to the object´s motion. Constraints are modeled as joints with configuration and history dependent forces. To illustrate these concepts, several experimental examples are presented
Keywords
compliance control; force control; identification; manipulator kinematics; torque control; compliance control; dynamics; identification; kinematic constraints; manipulators; object grasping; Aerospace engineering; Automatic control; Equations; History; Mechanical engineering; Parameter estimation; Payloads; Robot kinematics; Robotics and automation; Size measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location
Albuquerque, NM
Print_ISBN
0-7803-3612-7
Type
conf
DOI
10.1109/ROBOT.1997.619365
Filename
619365
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