Generalized compliant motion task description and execution within a complete telerobotic systemA motion primitive for use in compliant motion robot task execution is described. The primitive has a rich input parameter set to provide for execution of a variety of specific tasks such as door opening, crank turning, bolt seating and turning, pushing, sliding, pin insertion/removal, and leveling, as well as termination conditions which specify conditions for ending the motion, such as allowable position and force error bounds. A split rate force control technique is used for force control. Force and torque data from a six-axis force sensor are read, and gravity compensation using load mass properties is done to determine contact forces.
Document ID
19910066378
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Backes, Paul G. (JPL Pasadena, CA, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1990
Subject Category
Man/System Technology And Life Support
Meeting Information
Meeting: IEEE International Conference on Systems Engineering