Environment reconstruction and force/position cycling control of robots in interactive tasks

J. M. Jourdan; M. L. Nagurka

Environment reconstruction and force/position cycling control of robots in interactive tasks

J. M. Jourdan
, M. L. Nagurka

Research output: Contribution to conference › Paper › peer-review

3 Scopus citations

Abstract

A strategy for determining actual environment properties from force and position data acquired during execution of a task is proposed. In addition to acquiring the necessary data for environment parameter identification, the need to satisfy both force and position task constraints as a robot interacts with a compliant environment leads to a strategy of 'cycling control'. Cycling control offers a more flexible approach for carrying out interactive tasks by satisfying specified constraints, as well as determining 'on-line' an appropriate control strategy to apply, such as force, position, or compliant control.

Original language	English
Pages	123-130
Number of pages	8
State	Published - 1 Dec 1988
Externally published	Yes
Event	Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics - Minneapolis, MN, USA Duration: 18 Jul 1988 → 20 Jul 1988

Conference

Conference	Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics
City	Minneapolis, MN, USA
Period	18/07/88 → 20/07/88

ASJC Scopus subject areas

General Engineering

Cite this

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title = "Environment reconstruction and force/position cycling control of robots in interactive tasks",

abstract = "A strategy for determining actual environment properties from force and position data acquired during execution of a task is proposed. In addition to acquiring the necessary data for environment parameter identification, the need to satisfy both force and position task constraints as a robot interacts with a compliant environment leads to a strategy of 'cycling control'. Cycling control offers a more flexible approach for carrying out interactive tasks by satisfying specified constraints, as well as determining 'on-line' an appropriate control strategy to apply, such as force, position, or compliant control.",

author = "Jourdan, \{J. M.\} and Nagurka, \{M. L.\}",

year = "1988",

month = dec,

day = "1",

language = "English",

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note = "Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics ; Conference date: 18-07-1988 Through 20-07-1988",

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Environment reconstruction and force/position cycling control of robots in interactive tasks. / Jourdan, J. M.; Nagurka, M. L.
1988. 123-130 Paper presented at Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics, Minneapolis, MN, USA.

Research output: Contribution to conference › Paper › peer-review

TY - CONF

T1 - Environment reconstruction and force/position cycling control of robots in interactive tasks

AU - Jourdan, J. M.

AU - Nagurka, M. L.

PY - 1988/12/1

Y1 - 1988/12/1

N2 - A strategy for determining actual environment properties from force and position data acquired during execution of a task is proposed. In addition to acquiring the necessary data for environment parameter identification, the need to satisfy both force and position task constraints as a robot interacts with a compliant environment leads to a strategy of 'cycling control'. Cycling control offers a more flexible approach for carrying out interactive tasks by satisfying specified constraints, as well as determining 'on-line' an appropriate control strategy to apply, such as force, position, or compliant control.

AB - A strategy for determining actual environment properties from force and position data acquired during execution of a task is proposed. In addition to acquiring the necessary data for environment parameter identification, the need to satisfy both force and position task constraints as a robot interacts with a compliant environment leads to a strategy of 'cycling control'. Cycling control offers a more flexible approach for carrying out interactive tasks by satisfying specified constraints, as well as determining 'on-line' an appropriate control strategy to apply, such as force, position, or compliant control.

UR - https://www.scopus.com/pages/publications/0024123706

M3 - Paper

AN - SCOPUS:0024123706

SP - 123

EP - 130

T2 - Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics

Y2 - 18 July 1988 through 20 July 1988

ER -

Environment reconstruction and force/position cycling control of robots in interactive tasks

Abstract

Conference

ASJC Scopus subject areas

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