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Use of C-surface based force-feedback algorithm for complex assembly tasks

  • Section 8: Compliance And Force Control
  • Conference paper
  • First Online:
Experimental Robotics II

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 190))

  • 126 Accesses

Abstract

We describe the principle of a force-feedback controller based on the C-surface theory. Experimental results on complex assembly tasks are presented and we compare various force-feedback strategies. We show that our force-feedback algorithm can perform these tasks with few a-priori informations and can be used to learn a reference trajectory.

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References

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Authors and Affiliations

  1. INRIA Sophia-Antipolis, 2004 Route des Lucioles, 06665, Valbonne Cedex, France

    J -P. Merlet

Authors
  1. J -P. Merlet
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Editor information

Raja Chatila Gerd Hirzinger

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© 1993 Springer-Verlag London Limited

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Merlet, J.P. (1993). Use of C-surface based force-feedback algorithm for complex assembly tasks. In: Chatila, R., Hirzinger, G. (eds) Experimental Robotics II. Lecture Notes in Control and Information Sciences, vol 190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036158

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  • DOI: https://doi.org/10.1007/BFb0036158

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19851-2

  • Online ISBN: 978-3-540-39323-8

  • eBook Packages: Springer Book Archive

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