TY - GEN
T1 - A set-point-generator for indirect-force-controlled manipulators operating unknown constrained mechanisms
AU - Lutscher, Ewald
AU - Cheng, Gordon
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84872291550&partnerID=8YFLogxK
U2 - 10.1109/IROS.2012.6385961
DO - 10.1109/IROS.2012.6385961
M3 - Conference contribution
AN - SCOPUS:84872291550
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4072
EP - 4077
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -