@inproceedings{Allotta1992,
  author = {Allotta, B. and Chiaverini, S.},
  title = {Constrained motion control of robots with task constraints identification by US sensing},
  booktitle = {IEEE International Symposium on Intelligent Control - Proceedings},
  volume = {1992-August},
  doi = {10.1109/ISIC.1992.225136},
  abstract = {© 1992 IEEE.Tlie we of ultrasonic, (US) range sensing in constrained motion control of robots ia investigated. A US sensing system is integrated into a fence/position control scheme and allows on-line identificatioo of the motion constraints during contact with a partially unknown environment. Measurement of the relative distance of the end effector to the surface is used to obtain a fast but safe approach motion. A planar three-dimensional task space ia considered in a case study; thus two translational/force components and one rotation/torque component are of interest. Ezperimental results on a PUMA-560 manipulator show the effectiveneu of the proposed scheme.},
  year = {1992},
}

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