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Proceedings Paper

Intelligent Robot With Adaptive Compliance Using Sensory Feedback Control
Author(s): Ren C. Luo; Tai-Jee Pan
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Paper Abstract

A sensor-based intelligent robot may be used for moving objects, moving levels or knobs, assembly parts, driving screws, etc. However, for many task environments some constraints in task space generally exist. In these cases, neither pure position nor pure force control is appropriate. There is a need to develop a hybrid controller to accommodate various task environments. Previous development for a hybrid controller requires a definition of constraints prior to proceeding, i.e., the task environment must be predefined. It is still far removed from those desired by the manufacturing industry for full-fledged manufacturing implementations. We have developed a new approach for enhancing the current hybrid control techniques. The major contribution of this proposed hybrid position/force controller is its capability for accommodating the compliance selection vector both in position and force with the task environment adaptively. The derivation of an adaptive selection vector by the use of minimum energy and parameter identification algorithms is described in detail. The illustrative example and simulation results will be presented.

Paper Details

Date Published: 27 March 1987
PDF: 8 pages
Proc. SPIE 0726, Intelligent Robots and Computer Vision V, (27 March 1987); doi: 10.1117/12.937754
Show Author Affiliations
Ren C. Luo, North Carolina State University (United States)
Tai-Jee Pan, North Carolina State University (United States)


Published in SPIE Proceedings Vol. 0726:
Intelligent Robots and Computer Vision V
David P. Casasent, Editor(s)

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