Skip to main content
SpringerLink
Log in

Experiments with medium-level intelligent force control

  • Chapter 4 Control
  • Conference paper
  • First Online:
Experimental Robotics VI

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 250))

Abstract

This text gives experimental results, comments and interpretations of a set of compliant motion tasks that form the basis for force-guided identification of the geometry of the most common contact situations. The experiments show the influence of (i) nonideal effects, (ii) nonlinearities, and (iii) different motion trajectories.

Postdoctoral Fellow of the Fund for Scientific Research-Flanders (F.W.O.) in Belgium.

This work was sponsored in part by the Belgian Programme on Inter-University Attraction Poles (IUAP).

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Brian S. Eberman and J. Kenneth Salisbury, Jr. Application of change detection to dynamic contact sensing. Int. J. Robotics Research, 13(5):369–394, 1994.

    Article  Google Scholar 

  2. Brian Eberman. A model-based approach to Cartesian manipulation contact sensing. Int. J. Robotics Research, 16(4):508–528, 1997.

    Article  Google Scholar 

  3. Geir Hovland and Brenan J. McCarragher. Hidden Markov models as a process monitor in robotic assembly. Int. J. Robotics Research, 17(2):153–168, 1998.

    Article  Google Scholar 

  4. H. Bruyninckx, S. Demey, S. Dutré, and J. De Schutter. Kinematic models for model based compliant motion in the presence of uncertainty. Int. J. Robotics Research, 14(5):465–482, 1995.

    Article  Google Scholar 

  5. S. Dutré, H. Bruyninckx, S. Demey, and J. De Schutter. Solving contact and grasp uncertainties. In Int. Conf. Intel. Robots and Systems, pages 114–119, Grenoble, France, 1997.

    Google Scholar 

  6. Herman Bruyninckx and Joris De Schutter. Specification of force-controlled actions in the “Task Frame Formalism”: A survey. IEEE Trans. Rob. Automation, 12(5):581–589, 1996.

    Article  Google Scholar 

  7. M. T. Mason. Compliance and force control for computer controlled manipulators. IEEE Trans. on Systems, Man, and Cybernetics, SMC-11(6):418–432, 1981.

    Article  Google Scholar 

  8. J. De Schutter and H. Van Brussel. Compliant robot motion II. A control approach based on external control loops. Int. J. Robotics Research, 7(4):18–33, 1988.

    Article  Google Scholar 

  9. Yaakov Bar-Shalom and Xiao-Rong Li. Estimation and Tracking, Principles, Techniques, and Software. Artech House, 1993.

    Google Scholar 

  10. Arthur (Ed.) Gelb. Optimal Estimation. MIT Press, Cambridge, MA, 3rd edition, 1978.

    Google Scholar 

  11. Harold Wayne Sorenson. Kalman filtering: theory and application. IEEE Press, New York, NY, 1985.

    Google Scholar 

  12. M. S. Ohwovoriole and B. Roth. An extension of screw theory. Trans. ASME J. Mech. Design, 103(4):725–735, 1981.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Dept. Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, B-3001, Heverlee, Belgium

    Herman Bruyninckx, Tine Lefebvre & Joris De Schutter

Authors
  1. Herman Bruyninckx
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Tine Lefebvre
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Joris De Schutter
    View author publications

    You can also search for this author in PubMed Google Scholar

Rights and permissions

Reprints and permissions

Copyright information

© 2000 Springer-Verlag London Limited

About this paper

Cite this paper

Bruyninckx, H., Lefebvre, T., De Schutter, J. (2000). Experiments with medium-level intelligent force control. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119390

Download citation

  • DOI: https://doi.org/10.1007/BFb0119390

  • Published:

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-85233-210-5

  • Online ISBN: 978-1-84628-541-7

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation