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Experiments in Contact ControlThe implementation, experimentation, and application of contact control schemes for a 7-DOF Robotics Research arm is presented. Three types of control schemes are presented: compliance cntrol, force control, and dual-mode control. This presentation is concluded with the application of the proposed schemes to perform a contact-based eddy-current inspection task.
Document ID
20060042153
Acquisition Source
Jet Propulsion Laboratory
Document Type
Preprint (Draft being sent to journal)
External Source(s)
hdl:2014/33060
Authors
Seraji, H.
Steele, R.
Date Acquired
August 23, 2013
Publication Date
January 1, 1994
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Distribution Limits
Public
Copyright
Other
Keywords
robotics contact control compliance control force control dual-mode control

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