A compliant controller dynamically updating the compliance center by contact localization

Robotica

Volumn 16, Issue 5, 1998, Pages 543-550

  Kang, Sungchul ^a   Hwang, Yong K ^b   Kim, Munsang ^a   Lee, Chongwon ^a   Lee, Kyo Il ^c  

^a Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

^b SANDIA NATIONAL LABORATORIES   (United States)

^c Seoul National University   (South Korea)

Author keywords

Compliant motion; Concave object; Contact; Contact localization; Insertion; Motion planning; Moving compliance frame; Planar robot; Real time controller; Stiffness control

Indexed keywords

ALGORITHMS; MOBILE ROBOTS; MOTION PLANNING; ROBOTIC ASSEMBLY;

COMPLIANT CONTROLLER; COMPLIANT MOTION; CONCAVE OBJECT; CONTACT LOCALIZATION; MOVING COMPLIANCE FRAME; PLANAR ROBOT; REAL TIME CONTROLLER; STIFFNESS CONTROL;

MOTION CONTROL;

EID: 0032154601     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0263574798000058     Document Type: Article

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