loading
Documents

Research.Publish.Connect.

Paper

Paper Unlock

Authors: L. F. Baptista 1 ; J. M. M. Martins 2 and J. M. G. Sá da Costa 2

Affiliations: 1 Escola Náutica Infante D. Henrique, Portugal ; 2 Instituto Superior Técnico, GCAR/IDMEC, Portugal

ISBN: 978-972-8865-60-3

Keyword(s): Flexible-link manipulator, closed-loop inverse kinematics, interaction control, real-time control.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation

Abstract: One of the major drawbacks of flexible-link robot applications is its low tip precision, which is an essential characteristic for applications with interaction control with a contact surface. In this work, interaction control strategies considering rigid and flexible contact surfaces are applied on a two degrees of mobility flexible-link manipulator. The interaction strategies are based on the closed-loop inverse kinematics algorithm (CLIK) to obtain the angular references to the joint position controller. The control schemes were previously tested by simulation and further implemented on the flexible-link robot. The obtained experimental results exhibit a good force tracking performance, especially for a rigid surface, and reveal the successful implementation of these control architectures for a robot with one flexible link.

PDF ImageFull Text

Download
Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 18.232.99.123

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
F. Baptista L.; M. M. Martins J.; M. G. Sá da Costa J. and (2006). INTERACTION CONTROL EXPERIMENTS FOR A ROBOT WITH ONE FLEXIBLE LINK.In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 66-73. DOI: 10.5220/0001204900660073

@conference{icinco06,
author={L. {F. Baptista} and J. {M. M. Martins} and J. {M. G. Sá da Costa}},
title={INTERACTION CONTROL EXPERIMENTS FOR A ROBOT WITH ONE FLEXIBLE LINK},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={66-73},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001204900660073},
isbn={978-972-8865-60-3},
}

TY - CONF

JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - INTERACTION CONTROL EXPERIMENTS FOR A ROBOT WITH ONE FLEXIBLE LINK
SN - 978-972-8865-60-3
AU - F. Baptista, L.
AU - M. M. Martins, J.
AU - M. G. Sá da Costa, J.
PY - 2006
SP - 66
EP - 73
DO - 10.5220/0001204900660073

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.