An approach to learning control surfaces by connectionist systems
Vision, brain, and cooperative computation
Direct-drive robots: theory and practice
Direct-drive robots: theory and practice
Experimental evaluation of nonlinear feedback and feedforward control schemes for manipulators
International Journal of Robotics Research
Model-based control of a robot manipulator
Model-based control of a robot manipulator
Compliant robot motion II. A control approach based on external control loops
International Journal of Robotics Research
A three-dimensional assembly task quantification with application to machine dexterity
International Journal of Robotics Research
Graphical analysis of planar rigid-body dynamics with multiple frictional contacts
The fifth international symposium on Robotics research
Hybrid position/force control: a correct formulation
International Journal of Robotics Research
Analysis and planning of planar manipulation tasks
Analysis and planning of planar manipulation tasks
Geometric invariance in computer vision
Geometric invariance in computer vision
Robot Motion Planning
Advanced Robotics: Redundancy and Optimization
Advanced Robotics: Redundancy and Optimization
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Robot Analysis and Control
Integrated Approach to Robotic Engineering
Integrated Approach to Robotic Engineering
Robots in Assembly
Robot Force Control without Stability Problems
The 3rd International Symposium on Experimental Robotics III
Dynamics for robot control: friction modeling and ensuring excitation during parameter identification
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Robot manipulators were meant to be the production engineer"s flexible friend. Assembly robots, however, have failed to fulfill their promise. The problem that has continuously plagued robotic assembly is that of spatial uncertainty. It is our thesis that the ubiquitous problem of spatial uncertainty is an artefact of the fact that current industrial manipulators are designed for an operational paradigm that assumes position control is of primary importance. In this paper we propound an alternative approach based on sliding as the primary motion primitive. We first present a model that uses sliding to allow us to raise the level of abstraction of robot programming tasks. We then describe an inherently accommodating, (planar) three degree of freedom, direct-drive robot arm that was constructed to test our approach. Finally, we present data collected from representative (planar) manipulation tasks that substantiate our claims.