Please use this identifier to cite or link to this item: https://scholarbank.nus.edu.sg/handle/10635/74954
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dc.titleActive compliance control of a PUMA 560 robot
dc.contributor.authorShetty, Bharath Ram
dc.contributor.authorAng Jr., Marcelo H.
dc.date.accessioned2014-06-19T09:09:17Z
dc.date.available2014-06-19T09:09:17Z
dc.date.issued1996
dc.identifier.citationShetty, Bharath Ram,Ang Jr., Marcelo H. (1996). Active compliance control of a PUMA 560 robot. Proceedings - IEEE International Conference on Robotics and Automation 4 : 3720-3725. ScholarBank@NUS Repository.
dc.identifier.issn10504729
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/74954
dc.description.abstractConstrained motion tasks involve interaction forces between the tool and the work-piece and demand certain amounts of compliance at either the tool or at the work-piece. In this paper, we present a scheme to actively control the necessary compliance of the tool attached to the robot. This scheme allows the operator to specify the center of compliance and the three lateral and three angular compliances. The scheme uses a wrist-mounted, 6 axis force-torque sensor to measure the interaction forces. The necessary compliance is achieved by modifying the motion of the manipulator. This is achieved by programming a force-deflection relationship at the tool tip. This paper discusses the details of the algorithm, development of the control architecture for implementing the proposed scheme on an industrial robot, and real-time experimental results.
dc.sourceScopus
dc.typeConference Paper
dc.contributor.departmentMECHANICAL & PRODUCTION ENGINEERING
dc.description.sourcetitleProceedings - IEEE International Conference on Robotics and Automation
dc.description.volume4
dc.description.page3720-3725
dc.description.codenPIIAE
dc.identifier.isiutNOT_IN_WOS
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