- Tytuł:
- Safe strategy of door opening with impendance controlled manipulator
- Autorzy:
-
Winiarski, T.
Banachowicz, K.
Stefańczyk, M. - Powiązania:
- https://bibliotekanauki.pl/articles/384427.pdf
- Data publikacji:
- 2013
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
manipulation
impedance control
service robots - Opis:
- Modern robotic systems are able to localize doors and its handle or knob, grasp the handle and open the door. Service robots need to open doors and drawers to autonomously operate in human environment. The mechanical properties of doors lead to incorporation of force and velocity constraints into the control law, to avoid the environment damage. In the article the impedance control law was expanded with these factors to achieve safe behavior of direct (explicit) position-force controller of KUKA LWR4+ robot that opens the door.
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2013, 7, 4; 21-26
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki