A passive mechanism that improves robotic positioning through compliance and constraint

Robotics and Computer-Integrated Manufacturing

Volumn 12, Issue 1, 1996, Pages 65-71

  Schimmels, Joseph M ^a   Huang, Shuguang ^a  

^a Marquette University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER SIMULATION; CONTROL SYSTEM SYNTHESIS; KINEMATICS; MANIPULATORS; OPTIMIZATION; POSITION CONTROL; ROBOTICS; SPRINGS (COMPONENTS); TORQUE; UNIVERSAL JOINTS;

COMPLIANCE AND CONSTRAINT; JOINT SPACE; MICROMANIPULATOR; ROBOTIC POSITIONING; TASK SPACE;

END EFFECTORS;

EID: 0030106550     PISSN: 07365845     EISSN: None     Source Type: Journal    
DOI: 10.1016/0736-5845(95)00019-4     Document Type: Article

References (8)

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3. Ball, R. S.: A Treatise on the Theory of Screws. Cambridge, U.K., Cambridge University Press, 1900.
4. Colgate, J. E.: The control of dynamically interacting systems. PhD Thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology, 1988.
5. Cutkosky, M. R., Wright, P. K.: Active control of a compliant wrist in manufacturing tasks. ASME J. Engng Industry 108(1), 1986.
6. Schimmels, J. M.: Design of an admittance control law for precision edge tracking in robotic deburring. In Proceedings of the ASME Winter Annual Meeting, Advances in Robotics, Mechatronics, and Haptic Interfaces, 1993.
7. Whitney, D. E.: Quasi-static assembly of compliantly supported rigid parts. ASME J. Dynamic Syst. Measure. Control 104(1), 1982.
8. Whitney, D. E., Nevins, J. L.: What is the remote center compliance (rcc) and what can it do? In Proceedings of the 9th International Symposium on Industrial Robots, 1979.