Title: Compliant robot motion I. A formalism for specifying compliant motion tasks
Authors: De Schutter, Joris
Van Brussel, Hendrik #
Issue Date: 1988
Publisher: Sage Publications LTD
Series Title: International Journal of Robotics Research vol:7 issue:4 pages:3-17
Abstract: A formalism is developed for specifying compliant motion tasks. It is based on the hybrid control functional specification method described by Mason. However, some new concepts are introduced: tracking directions, end-effector and task- frame motion constraints, feedforward velocity data, and task termination conditions. This formalism synthesizes all the information required in order to allow a completely auto matic execution of the task. As a result, it achieves strict separation between programming and control, which is of primary importance for the integration of compliant motion into a robot programming language. Several examples show that the formalism applies to a broad class of compliant motion tasks. The newly defined tracking directions contrib ute to the autonomy of the robot control system in case only partial geometric information about the environment is avail able.
ISSN: 0278-3649
Publication status: published
KU Leuven publication type: IT
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section
# (joint) last author

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