Historical perspective and state of the art in robot force control
International Journal of Robotics Research
Robot manipulator control under Unix rccl: A robot control "C" library
International Journal of Robotics Research
Compliant robot motion II. A control approach based on external control loops
International Journal of Robotics Research
Robot Manipulators: Mathematics, Programming, and Control
Robot Manipulators: Mathematics, Programming, and Control
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A preliminary strategy for autonomous single arm orbital replacement unit (ORU) changeout, the associated compliance and force control issues, and implementation results are described. The changeout operation is separated into subtasks, e.g. bolt-turn, compliant-grasp, and dual-pin-insertion/removal. Compliance and force control are done in Cartesian space and the selection of appropriate locations for the Cartesian control frame is discussed. The dual-pin-insertion/removal subtask requires a decision based strategy in conjunction with compliant control to prevent jamming. Actual implementation was done with a PUMA 560 6 degree of freedom manipulator although the control strategies could be implemented on any manipulator with at least 6 degrees of freedom.