Polyhedral contact formation modeling and identification for autonomous compliant motion

IEEE Transactions on Robotics and Automation

Volumn 19, Issue 1, 2003, Pages 26-41

  Lefebvre, Tine ^a   Bruyninckx, Herman ^a   De Schutter, Joris ^a  

^a UNIVERSITY OF LEUVEN   (Belgium)

Author keywords

Autonomous assembly; Compliant motion; Contact modeling; Estimation; Geometrical uncertainty; Kalman filter; Polyhedral objects

Indexed keywords

AUTOMATION; DEGREES OF FREEDOM (MECHANICS); FORCE CONTROL; GEOMETRY; KALMAN FILTERING; MANIPULATORS; MATHEMATICAL MODELS; MOTION PLANNING; ONLINE SYSTEMS; PARAMETER ESTIMATION; POSITION CONTROL; UNCERTAIN SYSTEMS;

AUTONOMOUS ASSEMBLY; CONTACT FORMATION MODEL; GEOMETRICAL UNCERTAINTY; MEASUREMENT EQUATIONS; POLYHEDRAL OBJECTS;

MOTION CONTROL;

EID: 0037331090     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRA.2002.805677     Document Type: Article

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