DocumentCode
3055292
Title
Coordinated complaint motion
Author
Crochetiere, W.J. ; Johnson, T.L.
Author_Institution
Tufts University, Medford, MA
fYear
1983
fDate
- Dec. 1983
Firstpage
1464
Lastpage
1465
Abstract
A new method for the control of compliant motion in robots during operations such as part mating is described. Greater simplicity is achieved by not relying on a conventional single joint servo design. The parametrization of the compliance controller is selected to provide a clean interface between a higher-level language and the natural mechanical variables of part mating in task-oriented coordinates. The limitations of existing robot designs for the effective implementation of compliance control are discussed.
Keywords
Hafnium; Hybrid integrated circuits; Motion control; Radio access networks; Read only memory; Tellurium;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1983. The 22nd IEEE Conference on
Conference_Location
San Antonio, TX, USA
Type
conf
DOI
10.1109/CDC.1983.269781
Filename
4047806
Link To Document