Title: Specification of force-controlled actions in the "task frame formalism" : a synthesis
Authors: Bruyninckx, Herman
De Schutter, Joris #
Issue Date: 1996
Publisher: IEEE-Inst Electrical Electronics Engineering INC
Series Title: IEEE Transactions on Robotics and Automation vol:12 issue:4 pages:581-589
Abstract: Autonomous robot tasks involving contacts with the environment must be performed under active force control if the geometric uncertainties in the task models are too large to cope with by means of passive compliance only. In practice, task specification of force-controlled actions is closely linked to the task frame formalism (TFF), also known as the compliance frame formalism. The TFF is a very intuitive and controller-independent approach to model a motion constraint, and to specify the desired forces and motions compatible with this constraint. However, it has never been defined clearly and unambiguously, and it cannot cope with all possible constrained motion tasks. This paper provides, for the first time, a formal definition of what makes up a TFF task specification. It gives also a synthesis of which tasks the TFF can cope with, and proposes a generic textual task specification formalism. Finally, it describes an example constrained motion task that the TFF cannot handle
ISSN: 1042-296X
Publication status: published
KU Leuven publication type: IT
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section
# (joint) last author

Files in This Item:

There are no files associated with this item.

Request a copy


All items in Lirias are protected by copyright, with all rights reserved.

© Web of science