Publication detail

USING CONTACT FORCE INFORMATION FOR ROBOT CONTROL

KREJČÍ, P.

Original Title

USING CONTACT FORCE INFORMATION FOR ROBOT CONTROL

Type

book chapter

Language

English

Original Abstract

The information about interaction between robotic parts and surroundings is necessary for intelligent control of robot behavior. The simplest example of such interaction is mechanical contact between working part of robot and surroundings. Than the knowledge of contact characteristic is important for robot control. This mechanical contact could be described by vector of contact force which includes information about force magnitude as well as information about orientation and contact point. The information about contact force vector will allow to predict the geometry of subject which is in the contact with robots parts and modify robots behavior. This kind of sensor can be used for control of robotic hand gripping force as well as for detection of collision between robot and surrounding.

Keywords

Contact Sensor FEM model, Strain gauges

Authors

KREJČÍ, P.

RIV year

2005

Released

30. 12. 2005

Publisher

VUT Brno, FSI

Location

Brno

ISBN

80-214-3144-X

Book

Simulation Modelling of Mechatronic Systems I

Edition

1

Edition number

1

Pages from

38

Pages to

42

Pages count

5

BibTex

@inbook{BUT55649,
  author="Petr {Krejčí}",
  title="USING CONTACT FORCE INFORMATION FOR ROBOT CONTROL",
  booktitle="Simulation Modelling of Mechatronic Systems I",
  year="2005",
  publisher="VUT Brno, FSI",
  address="Brno",
  series="1",
  edition="1",
  pages="38--42",
  isbn="80-214-3144-X"
}