Planning and teaching compliant motion strategies
نویسنده
چکیده
منابع مشابه
Compliance Viewed as Programming a Damped Spring
Parts mating often requires the use of compliant motions, which cause an object in the grasp of a robot to slide along obstacles in its environment. This paper is about the interface between a compliant motion progra mming system and a compliant motion control system. We propose that in this interface the robot can be modeled as a damped spring. This model allows the programmin g system to spec...
متن کاملTowards a geometric identification of compliant motions in learning from demonstration
We propose a method to learn compliant motions from demonstration to reduce the need for positional accuracy in an assembly task. An example of compliant motion in workpiece alignment is depicted in Fig. 1. Impedance control is a natural control method to realize compliant motions, but the drawback is that it makes motion planning difficult. Preimage planning [1] can be used for planning compli...
متن کاملPlanning Motions Compliant to Complex Contact States
Many robotic tasks require compliant motions, but planning such motions pose special challenges not present in collision-free motion planning. One challenge is how to achieve exactness, i.e., how to make sure that a planned path is exactly compliant to a desired contact state, especially when the con guration manifold of such a contact state is hard to describe analytically due to high geometri...
متن کاملPlanning Motion Compliant to Complex Contact States
Many robotic tasks require compliant motion, but planning such motion poses special challenges not present in collision-free motion planning. One challenge is how to achieve exactness, i.e., how to make sure that a planned path exactly compliant to a desired contact state, especially when the con guration manifold of such a contact state is hard to describe analytically due to high geometrical ...
متن کاملPlanning Motions Compliant to Complex Contact States Planning Motions Compliant to Complex Contact States
Many robotic tasks require compliant motions, but planning such motions poses special challenges not present in collision-free motion planning. One challenge is how to achieve exactness, that is, (DOFs) and, thus, uncertainties (Mason 1982; Whitney 1985). Contact motion occurs on the boundary of configuration space obstacles (C-obstacles) (Lozano-Pérez 1983), but computing C-obstacles remains a...
متن کامل