A set-point-generator for indirect-force-controlled manipulators operating unknown constrained mechanisms

Ewald Lutscher, Gordon Cheng

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

4 Zitate (Scopus)

Abstract

In this paper we propose a set-point-generator (SPG) for indirect-force-controlled (IFC) manipulators, interacting with mechanisms, which impose narrow bilateral kinematic constraints on their end effector, like doors, cabinets and drawers. These mechanisms could also have dynamic properties, due to their inertia, friction and gravity, which demands to consider applied forces when choosing a set-point for the IFC. Neither the type of the constraint (linear, circular), nor required manipulation forces are assumed to be known.

OriginalspracheEnglisch
Titel2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Seiten4072-4077
Seitenumfang6
DOIs
PublikationsstatusVeröffentlicht - 2012
Veranstaltung25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Dauer: 7 Okt. 201212 Okt. 2012

Publikationsreihe

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (elektronisch)2153-0866

Konferenz

Konferenz25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Land/GebietPortugal
OrtVilamoura, Algarve
Zeitraum7/10/1212/10/12

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