3D Surface-Tracking with a robot manipulator | Zendy

Rui Araújo | Zendy; Urbano Nunes | Zendy; Anı́bal T. de Almeida | Zendy

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3D Surface-Tracking with a robot manipulator

Author(s) -

Rui Araújo,

Urbano Nunes,

Anı́bal T. de Almeida

Publication year - 1996

Publication title -

journal of intelligent and robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.631

H-Index - 77

eISSN - 1573-0409

pISSN - 0921-0296

DOI - 10.1007/bf00437604

Subject(s) - tracking (education) , workspace , surface (topology) , robot , robot end effector , computer vision , computer science , frame (networking) , control theory (sociology) , engineering , control engineering , contact force , robot manipulator , simulation , artificial intelligence , control (management) , mechanical engineering , mathematics , psychology , pedagogy , geometry , physics , quantum mechanics

This paper presents incremental research in Surface Tracking with a robot manipulator. Surface tracking is an important operation in self-teaching and exploratory tasks in unknown environments, and to cope with inaccurate workspace and environment modeling. The paper addresses the problem of 3D Surface-Tracking in contact, where the main concern is the angle formed between the end-effector and the surface. This study constitutes a first approach to the more general and important problem of surface following in contact. The new contribution is the 3D tracking operation based on a new alignment control algorithm using real-time contact force feedback. Simulations, and experimental results using the PUMA 560 manipulator demonstrate the feasibility of the proposed algorithm. This paper also presents a method for tool-tip contact frame calibration using forces/moments data.

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