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3D Surface-Tracking with a robot manipulator

✍ Scribed by Rui Araújo; Urbano Nunes; A. T. Almeida

Book ID
104773398
Publisher
Springer Netherlands
Year
1996
Tongue
English
Weight
899 KB
Volume
15
Category
Article
ISSN
0921-0296

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✦ Synopsis

This paper presents incremental research in Surface Tracking with a robot manipulator. Surface tracking is an important operation in self-teaching and exploratory tasks in unknown environments, and to cope with inaccurate workspace and environment modeling. The paper addresses the problem of 3D Surface-Tracking in contact, where the main concern is the angle formed between the end-effector and the surface. This study constitutes a first approach to the more general and important problem of surface following in contact. The new contribution is the 3D tracking operation based on a new alignment control algorithm using real-time contact force feedback. Simulations, and experimental results using the PUMA 560 manipulator demonstrate the feasibility of the proposed algorithm. This paper also presents a method for tool-tip contact frame calibration using forces/moments data.

📜 SIMILAR VOLUMES

Tracking control with disturbance attenu
Tracking control with disturbance attenuation for robot manipulators
✍ S. Nicosia; P. Tomei 📂 Article 📅 1996 🏛 John Wiley and Sons 🌐 English ⚖ 304 KB 👁 2 views

The tracking problem is considered for robot manipulators. We propose a state feedback control algorithm which guarantees arbitrary attenuation on the outputs (the joint positions) of the effects of unknown timevarying disturbances as well as of parameter uncertainties.