Impact handling by proximity and force sensing. Allotta, B. & Buttazzo, G. In Proceedings 1992 IEEE International Conference on Robotics and Automation, pages 2032–2037 vol.3, May, 1992. doi abstract bibtex A sensor-based robot control technique for handling non-contact/transitions in a partially unknown environment is presented. Desired contacts with the environment were handled by integrating proximity and force/torque sensing information to improve efficiency in terms of speed and safety. By detecting in advance the target surface to be reached, the algorithm plans the trajectory to impose a smooth velocity profile during the approach, as well as to maintain the impact forces at the desired level by means of force control. A smooth transition between free and constrained motion control was obtained by means of weight functions depending on the measured distance between the robot end-effector and the target to be reached
@inproceedings{allotta_impact_1992,
title = {Impact handling by proximity and force sensing},
doi = {10.1109/ROBOT.1992.219982},
abstract = {A sensor-based robot control technique for handling non-contact/transitions in a partially unknown environment is presented. Desired contacts with the environment were handled by integrating proximity and force/torque sensing information to improve efficiency in terms of speed and safety. By detecting in advance the target surface to be reached, the algorithm plans the trajectory to impose a smooth velocity profile during the approach, as well as to maintain the impact forces at the desired level by means of force control. A smooth transition between free and constrained motion control was obtained by means of weight functions depending on the measured distance between the robot end-effector and the target to be reached},
booktitle = {Proceedings 1992 {IEEE} {International} {Conference} on {Robotics} and {Automation}},
author = {Allotta, B. and Buttazzo, G.},
month = may,
year = {1992},
keywords = {Control systems, Force control, Force sensors, Infrared sensors, Motion control, Sensor phenomena and characterization, Sensor systems, Service robots, Trajectory, Velocity control, end-effector, force control, force sensing, impact forces, impact handling, manipulators, motion control, planning (artificial intelligence), position control, proximity, sensor-based robot control, trajectory planning, velocity profile},
pages = {2032--2037 vol.3}
}
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