This paper proposes a new compliance control scheme for robot arm. The end-effector compliance of robot arm can be specified by directly altering its joint stiffness, which is based on the considerations of human stif...
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This paper proposes a new compliance control scheme for robot arm. The end-effector compliance of robot arm can be specified by directly altering its joint stiffness, which is based on the considerations of human stiffness control by skeletal muscles. A framework of this approach is described for a generalized arm, and several features are explored in comparison with the conventional compliance control scheme. Two-dimensional arm is taken as an application example and the decoupling condition of end-effector compliance matrix is analyzed for both serial arm and parallel arm. Finally, some experimental verifications are performed by using one finger of robot hand with the capability of joint compliance control.
After two decades, data processing has finally, and probably forever, found its niche among civil engineering and construction (CEC) professionnals, through word processors, digitizing tables, management software, and...
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ISBN:
(数字)9781468474046
ISBN:
(纸本)9781850912538
After two decades, data processing has finally, and probably forever, found its niche among civil engineering and construction (CEC) professionnals, through word processors, digitizing tables, management software, and increasingly via drawing software and computer-aided design (CAD), recently, robots have even started invading work sites. What are the main trends of CAD and robotics in the field of architecture and civil enginee ring? What type of R&D effort do university and industrial laboratories undertake to devise the professional software that will be on the market in the next three to five years? These are the issues which will be addressed during this symposium. To this effect, we have planned concurrently an equipment and software show, as well as a twofold conference. Robotic is just starting in the field of civil engineering and construction. A pioneer, the Civil engineering Departement of Carnegie-Mellon University, in the United States, organized the first two international symposia, in 1984 and 1985 in Pittsburgh. This is the third meeting on the subject (this year, however, we have also included CAD). It constitutes the first large international symposium where CAD experts, specialists in architecture and CEC robotics will meet. From this standpoint, it should be an ideal forum for exchanging views and expe riences on a wide range of topics, and we hope it will give rise to novel applications and new syntheses. This symposium is intented for scientists, teachers, students and also for manufacturers and all CEC professionals.
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