Inconsistency between actuation and task spaces under active stiffness control for robotic drilling

Turkish Journal of Engineering and Environmental Sciences

Volumn 20, Issue 3, 1996, Pages 161-166

  Alici, Gürsel ^a  

^a GAZIANTEP UNIVERSITY   (Turkey)

Author keywords

Active Stiffness Control; Robot Force Control; Robot Manipulator; Robotic Drilling

Indexed keywords

EID: 0342326968     PISSN: 13000160     EISSN: None     Source Type: Journal    
DOI: None     Document Type: Article

References (17)

1. Alici, G., "Robot Force Control for Remote Drilling in Hazardous Environments", Ph. D. thesis, University of Oxford, Department of Engineering Science, Oxford, England, 1993.
2. Alici, G. and Daniel, R. W., "Robot Force Control for Hazardous Drilling Operations", Technical Report OUEL 1898/91, University of Oxford, Department of Engineering Science, Oxford, England, 1991.
3. Alici, G. and Daniel, R. W. "Compliant Robot Drilling Dynamics and Their Implications for Remote Drilling Tasks", Proc. of Second International Conference on Automation, Robotics, and Computer Vision, pages INV-3.1.1 - INV-3.1.5. Hyatt Regency, Singapore, September, 1992.
4. Alici, G. and Daniel, R. W., "Experimental Comparison of Model-Based Robot Position Control Strategies", Proc. of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 76-83, Yokohama, Japan, July 1993.
5. Alici, G. and Daniel, R. W., "Robotic Drilling under Force Control; Execution of a Task", 1994 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1618-1625, München, Germany, September 1994.
6. Alici, G. and Daniel, R. W., "Static Friction Effects During Hard-on-Hard Contact Tasks and Their Implications for Manipulator Design", The International Journal of Robotics Research, 13(6): 508-520, December 1994.
7. An, C. H. and Hollerbach, J. M., "Kinematic Stability Issues in Force Control of Manipulators", Proc. of 1987 IEEE International Conference on Robotics and Automation, pages 897-903, Raleigh, USA, March 1987.
8. An, C. H., Atkeson, C. G. and Hollerbach, J. M., "Model-Based Control of a Robot Manipulator", MIT Press, 1988.
9. An, C. H. and Hollerbach, J. M., "The Role of Dynamic Models in Cartesian Control of Manipulators", The International Journal of Robotics Research, 8(4): 51-72, August 1989.
10. Asada H. and West H., "Kinematic Analysis and Design of Tool Guide Mechanisms for Grinding Robots", Proc. of 1984 ASME Winter Annual Meeting, Session on Computer Integrated Manufacturing and Robotics, pages 1-17, New Orleans, USA, December 1984.
11. Craig, J. J., "Introduction to Robotics: Mechanics and Control", Addison and Wesley, 1989.
12. El-Wakil, S. D., "Processes and Design for Manufacturing", Prentice-Hall International Editions, 1989.
13. Kutz, M., "Mechanical Engineers' Handbook", John Wiley and Sons Inc., 1985.
14. Fields, A., Youcef-Toumi K. and Asada H., "Flexible Fixturing and Automated Drilling of Sheet Metal Parts Using a Robot Manipulator", International Journal of Robotics and Computer-Integrated Manufacturing, 5(4): 371-380, 1989.
15. Salisbury, J. K., "Active Stiffness Control of a Manipulator in Cartesian Coordinates", Proc. of 19th IEEE International Conference on Secision and Control, pages 95-100, Albuquerque, USA, December, 1980.
16. West H. and Asada H., "A Method for the Control of Robot Arms Constrained by Contact with the Environment", Proc. of American Control Conference, pages 383-386, USA, 1985.
17. Wunder, M. D., "Robotic Tool Pre-setting for the F-18 Wing Drilling Machine", In Applying Robotics in the erospace Industry, pages MS84-224-1-12, St Louis, Missouri, USA, March 1984.