21 December 1993 Real-time skills of robot manipulators for unstructured environments
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Proceedings Volume 2057, Telemanipulator Technology and Space Telerobotics; (1993) https://doi.org/10.1117/12.164904
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States
This paper presents an overview of the developed modified impedance control (MIC) concept and provides real-time sensor based robot capabilities (gross and fine motion-skills). These skills are mandatory requirements for the telerobotics systems to execute unstructured tasks in an unstructured/uncertain environment (i.e., space, defence operations, etc.). A special emphasis is given to the applications of Space Station Freedom operations. The first part of the paper focuses on the (free) gross motion of the robot manipulators and provides a real-time collision avoidance approach for complete posture (all links) of a robot manipulator in an unstructured environment based on MIC concept. The second part of the paper presents contact motion skills. The experimental demonstrations show that the MIC concept is very efficient, satisfactory, and an important candidate for manipulation control of complex tasks since it allows real-time collision avoidance as well as contact motion capability.
© (1993) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Serdar Kalaycioglu, Serdar Kalaycioglu, } "Real-time skills of robot manipulators for unstructured environments", Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); doi: 10.1117/12.164904; https://doi.org/10.1117/12.164904


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