Title :
Task understanding of the crank turning
Author :
Mayeda, Hirokazu ; Miyaji, Koichi
Author_Institution :
Dept. of Comput. & Syst. Eng., Ritsumeikan Univ., Kyoto, Japan
Abstract :
The task understanding is examined for a popular task of the crank turning by a robot manipulator. A mathematical task model embedded uncertain factors as unknown parameters is constructed, and by analyzing the model, a robust task strategy to revolute the crank is contrived. It is shown how to design a robot controller to execute the task strategy. A controller is designed as an example and the validity of the controller is investigated by simulation
Keywords :
control system synthesis; dynamics; force control; manipulators; velocity control; crank turning; dynamic model; force control; impedance control; mathematical task model; robot controller; robot manipulator; task understanding; velocity control; Force control; Impedance; Mathematical model; Motion control; Robot control; Robot sensing systems; Robotic assembly; Robustness; Turning; Uncertainty;
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Print_ISBN :
0-7803-1933-8
DOI :
10.1109/IROS.1994.407537
