Synthesis of compliant motions in moving environments: experimental results
This paper presents a methodology to synthesize robot compliant motions in environments that can move or oscillate due to random disturbances. Motions of the environment are taken into account in the task frame position which is considered unknown and time-varying but bounded. The position, velocity...
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| creator | Pelletier, M. O'Reilly, P. Gourdeau, R. |
| description | This paper presents a methodology to synthesize robot compliant motions in environments that can move or oscillate due to random disturbances. Motions of the environment are taken into account in the task frame position which is considered unknown and time-varying but bounded. The position, velocity and force responses of the coupled robot/environment system are determined and tasks are expressed as inequality constraints on these expressions. A set of controller parameters is found by fitting the largest possible uncertainty box inside the region of the impedance parameter space that satisfies all task constraints. Experimental results demonstrate the validity and robustness of the approach. |
| doi_str_mv | 10.1109/ROBOT.1996.506558 |
| format | Conference Proceeding |
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Experimental results demonstrate the validity and robustness of the approach.</description><identifier>ISSN: 1050-4729</identifier><identifier>ISBN: 0780329880</identifier><identifier>ISBN: 9780780329881</identifier><identifier>EISSN: 2577-087X</identifier><identifier>DOI: 10.1109/ROBOT.1996.506558</identifier><language>eng</language><publisher>IEEE</publisher><subject>Computational geometry ; Impedance ; Manipulator dynamics ; Motion analysis ; Orbital robotics ; Robotics and automation ; Robots ; Robustness ; Solid modeling ; Uncertainty</subject><ispartof>Proceedings of IEEE International Conference on Robotics and Automation, 1996, Vol.3, p.2622-2627 vol.3</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/506558$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2058,4050,4051,27925,54920</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/506558$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Pelletier, M.</creatorcontrib><creatorcontrib>O'Reilly, P.</creatorcontrib><creatorcontrib>Gourdeau, R.</creatorcontrib><title>Synthesis of compliant motions in moving environments: experimental results</title><title>Proceedings of IEEE International Conference on Robotics and Automation</title><addtitle>ROBOT</addtitle><description>This paper presents a methodology to synthesize robot compliant motions in environments that can move or oscillate due to random disturbances. Motions of the environment are taken into account in the task frame position which is considered unknown and time-varying but bounded. The position, velocity and force responses of the coupled robot/environment system are determined and tasks are expressed as inequality constraints on these expressions. A set of controller parameters is found by fitting the largest possible uncertainty box inside the region of the impedance parameter space that satisfies all task constraints. Experimental results demonstrate the validity and robustness of the approach.</description><subject>Computational geometry</subject><subject>Impedance</subject><subject>Manipulator dynamics</subject><subject>Motion analysis</subject><subject>Orbital robotics</subject><subject>Robotics and automation</subject><subject>Robots</subject><subject>Robustness</subject><subject>Solid modeling</subject><subject>Uncertainty</subject><issn>1050-4729</issn><issn>2577-087X</issn><isbn>0780329880</isbn><isbn>9780780329881</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1996</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotkFtLw0AUhBcvYFv9Afq0fyDxnGz35puWesFCQCv4VrbJia4km5CNxf57I_VpZuBjGIaxS4QUEez1S36Xr1O0VqUSlJTmiE0yqXUCRr8fsyloAyKzxsAJmyBISOY6s2dsGuMXAAih1IQ9v-7D8EnRR95WvGibrvYuDLxpB9-GyH0Y7c6HD05h5_s2NBSGeMPpp6Pe_wVX857idz3Ec3ZauTrSxb_O2Nv9cr14TFb5w9PidpV41NmQkK5AKASB1m0tllDRXBphjC22zpnSVkXhSqkzLbEgMq5A5VA6o4BGAMWMXR16PRFtunGG6_ebwwfiFx9mUO4</recordid><startdate>1996</startdate><enddate>1996</enddate><creator>Pelletier, M.</creator><creator>O'Reilly, P.</creator><creator>Gourdeau, R.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>1996</creationdate><title>Synthesis of compliant motions in moving environments: experimental results</title><author>Pelletier, M. ; O'Reilly, P. ; Gourdeau, R.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i172t-e7f03610319ab91d0fe4583889cbaa8d9fccad572751cee8ac16a15a860ebaa13</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>1996</creationdate><topic>Computational geometry</topic><topic>Impedance</topic><topic>Manipulator dynamics</topic><topic>Motion analysis</topic><topic>Orbital robotics</topic><topic>Robotics and automation</topic><topic>Robots</topic><topic>Robustness</topic><topic>Solid modeling</topic><topic>Uncertainty</topic><toplevel>online_resources</toplevel><creatorcontrib>Pelletier, M.</creatorcontrib><creatorcontrib>O'Reilly, P.</creatorcontrib><creatorcontrib>Gourdeau, R.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Pelletier, M.</au><au>O'Reilly, P.</au><au>Gourdeau, R.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Synthesis of compliant motions in moving environments: experimental results</atitle><btitle>Proceedings of IEEE International Conference on Robotics and Automation</btitle><stitle>ROBOT</stitle><date>1996</date><risdate>1996</risdate><volume>3</volume><spage>2622</spage><epage>2627 vol.3</epage><pages>2622-2627 vol.3</pages><issn>1050-4729</issn><eissn>2577-087X</eissn><isbn>0780329880</isbn><isbn>9780780329881</isbn><abstract>This paper presents a methodology to synthesize robot compliant motions in environments that can move or oscillate due to random disturbances. Motions of the environment are taken into account in the task frame position which is considered unknown and time-varying but bounded. The position, velocity and force responses of the coupled robot/environment system are determined and tasks are expressed as inequality constraints on these expressions. A set of controller parameters is found by fitting the largest possible uncertainty box inside the region of the impedance parameter space that satisfies all task constraints. Experimental results demonstrate the validity and robustness of the approach.</abstract><pub>IEEE</pub><doi>10.1109/ROBOT.1996.506558</doi></addata></record> |
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| identifier | ISSN: 1050-4729 |
| ispartof | Proceedings of IEEE International Conference on Robotics and Automation, 1996, Vol.3, p.2622-2627 vol.3 |
| issn | 1050-4729 2577-087X |
| language | eng |
| recordid | cdi_ieee_primary_506558 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Computational geometry Impedance Manipulator dynamics Motion analysis Orbital robotics Robotics and automation Robots Robustness Solid modeling Uncertainty |
| title | Synthesis of compliant motions in moving environments: experimental results |
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