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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

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.

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Paper citation in several formats:
F. Baptista, L.; M. M. Martins, J. and M. G. Sá da Costa, J. (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 1: ICINCO; ISBN 978-972-8865-60-3; ISSN 2184-2809, SciTePress, 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 1: ICINCO},
year={2006},
pages={66-73},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001204900660073},
isbn={978-972-8865-60-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - INTERACTION CONTROL EXPERIMENTS FOR A ROBOT WITH ONE FLEXIBLE LINK
SN - 978-972-8865-60-3
IS - 2184-2809
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
PB - SciTePress