scholarly journals Compliance control of a robotic arm and its application to soft contact tasks.

1989 ◽  
Vol 55 (7) ◽  
pp. 1189-1193 ◽  
Author(s):  
Kazuo TANIE ◽  
Toshio FUKUDA
Keyword(s):  
Robotic Arm ◽  
Compliance Control ◽  
Soft Contact ◽  
Contact Tasks

Completing Complex Contact Tasks Using Integrated Active and Passive Compliant Control Methodologies

2019 ◽  
Author(s):  
Adam Pettinger ◽  
Mitch Pryor
Keyword(s):  
Robotic Manipulator ◽  
Level Control ◽  
Compliance Control ◽  
Uncertain Environments ◽  
Stiffness Matrices ◽  
Pill Bottle ◽  
Compliant Control ◽  
Contact Control ◽  
Mechanical Tool ◽  
Contact Tasks

Abstract In this paper we introduce the Generalized Contact Control Framework (GCCF) implemented on a compliant robotic manipulator. We demonstrate that the combined joint compliance and GCCF-based compliance control enable the completion of complex contact tasks in uncertain environments, where complex refers to the need to meet different contact force requirements involving multiple steps and output axes. Operating in uncertain environments means limited knowledge of the location or material properties of contact objects. The demonstrated tasks include opening a pill bottle and rigidly connecting to a purely mechanical tool changer. The GCCF simplifies the definition and modification of contact control parameters and allows for on-the-fly definition and completion of new tasks. Unlike hybrid force/impedance controllers, we do not need to define large damping and stiffness matrices, and we decouple the joint level control gains from the compliance control. The result is a robotic manipulator that can dynamically switch between unconstrained motion and contact tasks and provides a lot of versatility to perform a wide variety of tasks.

Handling of Soft Object/Explanation Compliance Control and Soft Contact Problems

1991 ◽  
Vol 3 (6) ◽  
pp. 446-450
Author(s):  
Kazuo Tanie ◽  
◽  
Toshio Fukuda ◽  
Keyword(s):  
Contact Problems ◽  
Compliance Control ◽  
Soft Contact ◽  
Soft Object

Safe Adaptive Compliance Control of a Humanoid Robotic Arm with Anti-Windup Compensation and Posture Control

2010 ◽  
Vol 2 (3) ◽  
pp. 305-319 ◽  
Author(s):  
Said Ghani Khan ◽  
Guido Herrmann ◽  
Tony Pipe ◽  
Chris Melhuish ◽  
Adam Spiers
Keyword(s):  
Posture Control ◽  
Robotic Arm ◽  
Compliance Control

scholarly journals A Method of Compliance Control for a Robotic Arm with Redundant Degrees of Freedom.

1993 ◽  
Vol 11 (1) ◽  
pp. 121-130 ◽  
Author(s):  
Kazuhito YOKOI ◽  
Hitoshi MAEKAWA ◽  
Kazuo TANIE
Keyword(s):  
Degrees Of Freedom ◽  
Robotic Arm ◽  
Compliance Control

Monkeys move robotic arm using brain power

Nature ◽  
2008 ◽  
Author(s):  
Michael Hopkin
Keyword(s):  
Robotic Arm

Control Algorithm for an Industrial Robotic Arm Using Computer Vision

2015 ◽  
Vol 9 (2) ◽  
pp. 182
Author(s):  
Germán Buitrago Salazar ◽  
Olga Lucía Ramos ◽  
Dario Amaya
Keyword(s):  
Computer Vision ◽  
Control Algorithm ◽  
Robotic Arm
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