Impact handling by proximity and force sensing

A sensor-based robot control technique for handling non-contact/transitions in a partially unknown environment is presented. Desired contacts with the environment were handled by integrating proximity and force/torque sensing information to improve efficiency in terms of speed and safety. By detecting in advance the target surface to be reached, the algorithm plans the trajectory to impose a smooth velocity profile during the approach, as well as to maintain the impact forces at the desired level by means of force control. A smooth transition between free and constrained motion control was obtained by means of weight functions depending on the measured distance between the robot end-effector and the target to be reached.<<ETX>>

[1]  R. L. Andersson.  Dynamic sensing in a ping-pong playing robot , 1989, IEEE Trans. Robotics Autom..

[2]  R. L. Andersson.  Aggressive trajectory generator for a robot ping-pong player , 1989 .

[3]  Joris De Schutter,et al.  Improved force control laws for advanced tracking applications , 1988, ICRA.

[4]  Vladimir J. Lumelsky,et al.  Motion planning for robot arm manipulators with proximity sensing , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[5]  Antonino S. Fiorillo,et al.  An ultrasonic range sensor array for a robotic fingertip , 1989 .

[6]  Oussama Khatib,et al.  Motion and force control of robot manipulators , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[7]  Hendrik Van Brussel,et al.  Compliant Robot Motion I. A Formalism for Specifying Compliant Motion Tasks , 1988, Int. J. Robotics Res..

[8]  G. Hirzinger,et al.  Multisensory robots and sensor-based path generation , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[9]  Paolo Dario,et al.  A force/torque sensor-based technique for robot harvesting of fruits and vegetables , 1990, EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications.

[10]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1986 .

[11]  G. Buttazzo.  HAREMS: hierarchical architecture for robotics experiments with multiple sensors , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.