Journal ArticleDOI
Compliant robot motion: I. A formalism for specifying compliant motion tasks
J. De Schutter,H. Van Brussel +1 more
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In this paper, a formalism for specifying compliant motion tasks is developed based on the hybrid control functional specification method described by Mason, and some new concepts are introduced: trac...Abstract:
A formalism is developed for specifying compliant motion tasks. It is based on the hybrid control functional specification method described by Mason. However, some new concepts are introduced: trac...read more
Citations
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Journal ArticleDOI
Hierarchical quadratic programming
TL;DR: This paper proposes a complete solution to solve multiple least-square quadratic problems of both equality and inequality constraints ordered into a strict hierarchy using a generic solver used to resolve the redundancy of humanoid robots while generating complex movements in constrained environments.
Journal ArticleDOI
The parallel approach to force/position control of robotic manipulators
TL;DR: The parallel approach to force/position control of robotic manipulators is presented, which shows a complete use of the available sensor measurements by operating the control action in a full-dimensional space without using selection matrices.
Journal ArticleDOI
Robot skills for manufacturing
Mikkel Rath Pedersen,Lazaros Nalpantidis,Rasmus Skovgaard Andersen,Casper Schou,Simon Bøgh,Volker Krüger,Ole Madsen +6 more
TL;DR: It is shown how a relatively small set of skills are derived from current factory worker instructions, and how these can be transferred to industrial mobile manipulators and shown how this approach can enable non-experts to utilize advanced robotic systems.
Journal ArticleDOI
Constraint-based Task Specification and Estimation for Sensor-Based Robot Systems in the Presence of Geometric Uncertainty
Joris De Schutter,Tinne De Laet,J. Rutgeerts,Wilm Decré,Ruben Smits,Erwin Aertbeliën,Kasper Claes,Herman Bruyninckx +7 more
TL;DR: This paper introduces a systematic constraint-based approach to specify complex tasks of general sensor-based robot systems consisting of rigid links and joints, which integrates both instantaneous task specification and estimation of geometric uncertainty in a unified framework.
Journal ArticleDOI
Specification of force-controlled actions in the "task frame formalism"-a synthesis
Herman Bruyninckx,J. De Schutter +1 more
TL;DR: This paper provides, for the first time, a formal definition of what makes up a TFF task specification, a synthesis of which tasks the TFF can cope with, and proposes a generic textual task specification formalism.
References
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Journal ArticleDOI
Impedance Control: An Approach to Manipulation: Part I—Theory
TL;DR: It is shown that components of the manipulator impedance may be combined by superposition even when they are nonlinear, and a generalization of a Norton equivalent network is defined for a broad class of nonlinear manipulators which separates the control of motion from theControl of impedance while preserving the superposition properties of the Norton network.
Journal ArticleDOI
Hybrid position/force control of manipulators
M. H. Raibert,J. J. Craig +1 more
TL;DR: A new conceptually simple approach to controlling compliant motions of a robot manipulator that combines force and torque information with positional data to satisfy simultaneous position and force trajectory constraints specified in a convenient task related coordinate system is presented.
Journal ArticleDOI
Compliance and Force Control for Computer Controlled Manipulators
TL;DR: A theory of force control based on formal models of the manipulator and the task geometry is presented, isolating the programmer from the fundamental complexity of low-level manipulator control.
Proceedings ArticleDOI
Active stiffness control of a manipulator in cartesian coordinates
TL;DR: In this article, a method of actively controlling the apparent stiffness of a manipulator end effecter is presented, which allows the programmer to specify the three transnational and three rotational stiffness properties of a frame located arbitrarily in hand coordinates.