Specification of force-controlled actions in the "Task frame formalism" - A synthesis

IEEE Transactions on Robotics and Automation

Volumn 12, Issue 4, 1996, Pages 581-589

  Bruyninckx, Herman ^a,b   De Schutter, Joris ^b  

^a IEEE

^b UNIVERSITY OF LEUVEN   (Belgium)

Author keywords

[No Author keywords available]

Indexed keywords

CONSTRAINT THEORY; FORCE CONTROL; MATHEMATICAL MODELS; MOTION CONTROL; ROBOT PROGRAMMING;

COMPLIANCE FRAME FORMALISM; TASK FRAME FORMALISM;

ROBOTICS;

EID: 0030211733     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.508440     Document Type: Article

References (43)

1. M. T. Mason, "Compliance and force control for computer controlled manipulators," IEEE Trans. Syst., Man, Cybern., vol. SMC-11, no. 6, pp. 418-432, 1981.
2. M. Basseville and I. Nikiforov, Detection of Abrupt Changes: Theory and Application. Englewood Cliffs, NJ: Prentice Hall, 1993.
3. B. Eberman, J. Salisbury, and J. Kenneth, "Application of change detection to dynamic contact sensing," Int. J. Robot Res. vol. 13, pp. 369-394, Oct. 1994.
4. H. Lipkin and J. Duffy, "Hybrid twist and wrench control for a robotic manipulator," Trans. ASME J. Mech., Transm., Automation in Design, vol. 110, pp. 138-144, 1988.
5. M. Mason and K. Salisbury, Robot Hands and the Mechanics of Manipulation. Cambridge, MA: MIT Press, 1985.
6. J. DeSchutter and H. VanBrussel, "Compliant robot motion II. A control approach based on external control loops," Int. J. Robot Res., vol. 7, no. 4, pp. 18-33, 1988.
7. P. Kazanzides, N. S. Bradley, and W. A. Wolovich, "Dual-drive force/velocity control: Implementation and experimental results," in Proc. IEEE Int. Conf. Robotics and Automation. 1989, pp. 92-97.
8. K. Nilsson, "Application oriented programming and control of industrial robots," Master's Thesis, Lund Institute of Technology, Dept. Automatic Control, Sweden, 1992.
9. M. Raibert and J. J. Craig, "Hybrid position/force control of manipulators." Trans. ASME J. Dyn. Syst., Meas., Contr., vol. 102, pp. 126-133, 1981.
10. C. Samson, M. LeBorgne, and B. Espiau, Robot Control, The Task Function Approach. Oxford: Clarendon, 1991.
11. H. West and H. Asada, "A method for the design of hybrid position/force controllers for manipulation constrained by contact with the environment," in Proc. IEEE Int. Conf. Robotics and Automation, 1985, pp. 251-259.
12. D. Whitney and J. Nevins, "What is the remote centre compliance (RCC) and what can it do?," in Proc. Int. Symp. Industrial Robots, Washington, DC, 1979, pp. 135-152.
13. D. E. Whitney, "Quasistatic assembly of compliantly supported rigid parts," Trans. ASME, J. Dyn. Syst., Meas., Contr., vol. 104, pp. 65-77, 1982.
14. J. Lončarić, "Normal forms of stiffness and compliance matrices," IEEE J. Robot. Automat., vol. RA-3, no. 6, pp. 567-572, 1987.
15. A. Goswami and M. A. Peshkin. "Mechanical computation for passive force control," in Proc. IEEE Int. Conf. Robotics and Automation, Atlanta, GA, 1993, pp. 476-483.
16. M. A. Peshkin, "Programmed compliance for error corrective assembly," IEEE Trans. Robot. Automat., vol. 6, no. 4, pp. 473-482, 1990.
17. J. M. Schimmels and M. A. Peshkin, "Admittance matrix design for force-guided assembly," IEEE Trans. Robot. Automat., vol. 8, no. 2, pp. 213-227, 1992.
18. R. W. Brockett and A. Stokes, "On the synthesis of compliant mechanisms," in Proc. IEEE Int. Conf. Robotics and Automation, Sacramento, CA, 1991, pp. 2168-2173.
19. T. Patterson and H. Lipkin, "A classification of robot compliance." Trans. ASME J. Mech. Des., vol. 115. pp. 581-584, 1993.
20. _, "Structure of robot compliance," Trans. ASME J. Mech. Des., vol. 115, pp. 576-580, 1993.
21. N. Hogan. "Impedance control: An approach to manipulation. Parts I-III," Trans. ASME J. Dyn. Syst., Meas., Contr., vol. 107, pp. 1-24, 1985.
22. T. Lozano-Pérez. M. Mason, and R. Taylor, "Automatic synthesis of fine-motion strategies for robots," Int. J. Robot. Res., vol. 3, no. 1, pp. 3-24, 1984.
23. S. J. Buckley, "Planning compliant motion strategies," Int. J. Robot. Res., vol. 8, no. 5, pp. 28-44, 1989.
24. L. S. Homem de Mello and A. C. Sanderson, "And/or graph representation of assembly plans," IEEE Trans. Robot. Automat., vol. 6, no. 2, pp. 188-199, 1990.
25. C. Laugier, "Planning fine motion strategies by reasoning in the contact space," in Proc. IEEE Int. Conf. Robotcs and Automation, 1989, pp. 653-661.
26. Y. Liu and R. Popplestone, "A group theoretic formalization of surface contact," Int. J. Robot. Res., vol. 13, no. 2, pp. 148-161, 1994.
27. R. Suárez and L. Basańez, "Assembly with robots in presence of uncertainty," in Proc. Int. Symp. Industrial Robots, 1991.
28. J. Xiao, "Replanning with compliant rotation in the presence of uncertainties," in Int. Symp. Intelligent Control, Glasgow, Scotland, 1992, pp. 102-108.
29. J. Xiao and R. Volz, "Design and motion constraints of part-mating planning in the presenc of uncertainties," in Proc. IEEE Int. Conf. Robotics and Automation, 1988, pp. 1260-1268.
30. D. Montana, "The kinematics of contact and grasp," Int. J. Robot. Res., vol. 7, no. 3, pp. 17-32, 1988.
31. J. DeSchutter and H. VanBrussel, "Compliant robot motion I. A formalism for specifying compliant motion tasks," Int. J. Robot. Res., vol. 7, no. 4, pp. 3-17, 1988.
32. T. Yoshikawa and A. Sudou, "Dynamic hybrid position/force control of robot manipulators - On-line estimation of unknown constraint," IEEE Trans. Robot. Automat., vol. 9, no. 2, pp. 220-226, 1993.
33. B. J. McCarragher and H. Asada, "Qualitative template matching using dynamic process models for state transition recognition of robotic assembly," Trans. ASME J. Dyn. Syst., Meas., Contr., vol. 115, pp. 261-269, 1993.
34. C. Wampler, "Multiprocessor control of a telemanipulator with optical proximity sensors," Int. J. Robot. Res., vol. 3, no. 1, pp. 40-50, 1984.
35. L. M. Camarinha-Matos, L. Seabra Lopes, and J. Barata, "Execution monitoring in assembly with learning capabilities," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 1992.
36. R. S. Desai and R. A. Volz, "Identification and verification of termination conditions in fine motion in presence of sensor errors and geometric uncertainties," in Proc. IEEE Int. Conf. Robotics and Automation, 1989, pp. 800-807.
37. B. R. Donald, "Planning multi-step error detection and recovery strategies," Int. J. Robot. Res., vol. 9, no. 1, pp. 3-60, 1990.
38. M. Spreng, "A probabilistic method to analyze ambiguous contact situations," in Proc. IEEE Int. Conf. Robotics and Automation, 1993, pp. 543-548.
39. M. Basseville, "Detecting changes in signals and systems - A survey," Automatica, vol. 24, no. 3, pp. 309-326, 1988.
40. J. Duffy, "The fallacy of modern hybrid control theory that is based on Orthogonal complements' of twist and wrench spaces," J. Robot. Syst., vol. 7, no. 2, pp. 139-144, 1990.
41. H. Goldstein, Classical Mechanics, 2d ed. Reading, MA: Addison-Wesley, 1980.
42. Y. Nakamura, H. Hanafusa, and T. Yoshikawa, "Task-priority based redundancy control of robot manipulators," Int. J. Robot. Res., vol. 6, no. 2, pp. 3-15, 1987.
43. H. Bruyninckx, S. Demey, S. Dutré, and J. DeSchutter, "Kinematic models for model based compliant motion in the presence of uncertainty," Int. J. Robot. Res., vol. 14, no. 5, pp. 465-482, 1995.