Two adaptive control schemes offer robust solutions to problem of stable control of forces of contact between robotic manipulator and objects in its environment. They are called "adaptive admittance control" and "adaptive compliance control." Both schemes involve use of force-and torque sensors that indicate contact forces. These schemes performed well when tested in computational simulations in which they were used to control seven-degree-of-freedom robot arm in executing contact tasks. Choice between admittance or compliance control is dictated by requirements of the application at hand.


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    Title :

    Adaptive Force Control For Compliant Motion Of A Robot


    Contributors:

    Published in:

    Publication date :

    1995-10-01



    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English


    Keywords :