Intelligent Robot With Adaptive Compliance Using Sensory Feedback Control

Ren C. Luo; Tai-Jee Pan

doi:10.1117/12.937754

27 March 1987 Intelligent Robot With Adaptive Compliance Using Sensory Feedback Control

Ren C. Luo, Tai-Jee Pan

Author Affiliations +

Proceedings Volume 0726, Intelligent Robots and Computer Vision V; (1987) https://doi.org/10.1117/12.937754
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States

Abstract

A sensor-based intelligent robot may be used for moving objects, moving levels or knobs, assembly parts, driving screws, etc. However, for many task environments some constraints in task space generally exist. In these cases, neither pure position nor pure force control is appropriate. There is a need to develop a hybrid controller to accommodate various task environments. Previous development for a hybrid controller requires a definition of constraints prior to proceeding, i.e., the task environment must be predefined. It is still far removed from those desired by the manufacturing industry for full-fledged manufacturing implementations. We have developed a new approach for enhancing the current hybrid control techniques. The major contribution of this proposed hybrid position/force controller is its capability for accommodating the compliance selection vector both in position and force with the task environment adaptively. The derivation of an adaptive selection vector by the use of minimum energy and parameter identification algorithms is described in detail. The illustrative example and simulation results will be presented.

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Ren C. Luo and Tai-Jee Pan "Intelligent Robot With Adaptive Compliance Using Sensory Feedback Control", Proc. SPIE 0726, Intelligent Robots and Computer Vision V, (27 March 1987); https://doi.org/10.1117/12.937754

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