Publikationsdatenbank
Publication
A Hybrid Force Following Controller For Multi-Scale MotionsPhilipp Stolka , Dominik Henrich
Abstract (deutsch)
In vielen Anwendungen in der Robotik ist das Eingeben von Raumpunkten notwendig für die Registrierung des Roboterkoordinatensystems mit dem der Anwendung. Mensch-Roboter-Interaktion ist wegen der Grö
Abstract (english)
In many robotic applications, the teaching of points in space is necessary to register the robot coordinate system with the one of the application. Robot-human interaction is awkward and dangerous for the human because of the possibly large size and power of the robot, so robot movements must be predictable and natural. We present a novel hybrid control algorithm which provides the needed precision in small scale movements while allowing for fast and intuitive large scale translations.
Publication data
| Year: | 2003 |
| Publication date: | 24. July 2003 |
| Source: | SYROCO 2003 - 7th International Symposium on Robot Control, Sept 1-3, 2003 - Wroc |
| Project: | SIMERO , RONAF |
| Keywords (deutsch): | Hybridregler , kraftbasiertes Führen , Kraftregelung |
| Keywords (english): | force control , force following , hybrid control |
| Referrer: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=stolka2003a |
BibTeX
@ARTICLE{stolka2003a,
TITLE = "A Hybrid Force Following Controller For Multi-Scale Motions",
AUTHOR = "Stolka, Philipp and Henrich, Dominik",
YEAR = "2003",
JOURNAL = "SYROCO 2003 - 7th International Symposium on Robot Control, Sept 1-3, 2003 - Wroc",
HOWPUBLISHED = "\url{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=stolka2003a}",
}
Download
| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| stolka2003a.A.Hybrid.Force.Following.Controller.For.MultiSca le.Motions.djvu |
86.6K | english | DJVU | download preprint | |||
| stolka2003a.A.Hybrid.Force.Following.Controller.For.MultiSca le.Motions.pdf |
345.8K | english | download preprint |