2 edition of Position accommodation and compliance control for robotic excavation. found in the catalog.
Position accommodation and compliance control for robotic excavation.
William W. Richardson-Little
Written in English
Robotic manipulation in a remote environment places a premium on the autonomy and reliability of the robot control system. A robotic excavator must be able to accept high-level operator commands and perform the excavation task without additional external input. An excavation robot must also be able to operate in all three states of manipulator motion: free-space, contact and exertion of a force against an environment. A position-accommodation control scheme allows the robot to effectively operate in all three states and transition smoothly between states. This study outlines the various models used to predict soil-tool interaction forces, as well as how soil changes under excavation various conditions. Excavation simulations compare the performance of a position controlled robot and a compliance controlled robot using position accommodation. Common excavation trajectories are used in the simulations.
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Position accommodation and compliance control for robotic excavation Abstract: A robotic excavator must be able to operate in all three states of manipulator motion: free-space, contact and exertion of a force against an environment.
A position accommodation control scheme is ideally suited for this task. The position accommodation method. 5 Position Control and Trajectory Tracking dynamics, and control of robot manipulators. The current book is an attempt to provide this formulation not just for a single robot but also for multiﬁngered robot hands, involving multiple cooperating robots.
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