Title :
Multi-contact compliant motion control for robotic manipulators
Author :
Park, Jaeheung ; Cortesão, Rui ; Khatib, Oussama
Author_Institution :
Robotics Group, Stanford Univ., CA, USA
fDate :
26 April-1 May 2004
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;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1302476
