Robot 3D force-based surface-tracking

Author

Araujo, Roberto ; Nunes, Urbano ; de Almeida, A.T.

Author_Institution

Dept. of Electr. Eng., Coimbra Univ., Portugal

Volume

2

fYear

1994

fDate

5-9 Sep 1994

Firstpage

788

Abstract

The problem of control of a robot manipulator performing compliant tasks is addressed. The force and position control is based on the Smith predictor design. For the overall control we are pursuing a behaviour-based architecture approach. The paper describes a 3D surface tracking behaviour controller. The tracking operation is performed in real-time using contact force feedback. Surface tracking is an important operation for self-teaching and exploratory tasks in unknown environments. It can be seen as a first step to the more general and important problem of surface following in contact. A method for tool tip contact frame calibration is presented. Results of simulations and real-time implementation are presented and discussed

Keywords

compliance control; feedback; force control; manipulators; predictive control; real-time systems; Smith predictor design; behaviour-based architecture; compliant tasks; contact force feedback; exploratory tasks; force control; position control; robot 3D force-based surface-tracking; robot manipulator; self-teaching tasks; surface following; surface tracking; tool tip contact frame calibration; Calibration; Control systems; Force control; Force feedback; Force measurement; Force sensors; Geometry; Manipulator dynamics; Position control; Robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control and Instrumentation, 1994. IECON '94., 20th International Conference on

Conference_Location

Bologna

Print_ISBN

0-7803-1328-3

Type

conf

DOI

10.1109/IECON.1994.397886

Filename

397886