NDLI: Experimental evaluation of the importance of compliance for robotic impact control

Content Provider	IEEE Xplore Digital Library
Author	Mandal, N. Payandeh, S.
Copyright Year	1994
Description	Author affiliation: Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada (Mandal, N.; Payandeh, S.)
Abstract	We present experimental results for impact control of a 2DOF DD manipulator against a stiff and compliant environment. The manipulator is commanded to approach the stiff environment at a specified velocity, and, once in contact with it, to exert a specified force on it. We present a simple understanding of the three stages of impact control, the pre-contact stage, the impact stage and the post contact stage; we adopt such a basic approach due to the ambiguous nature of results presented in the literature. Besides, in doing so, we take into cognizance the state-of-the art in robotic hardware, which have important implications in any implementation of impact control strategies. The emphasis of the paper is on experimental implementation; a clear cut distinction between what works and what does not. Our results indicate that for very stiff environments, stable impact control may be achieved at low velocities only, and that for a compliant system, there is a trade-off between approach velocity, compliance, sampling time and the bandwidth of the robotic system.<>
Starting Page	511
Ending Page	516
File Size	614629
Page Count	6
File Format	PDF
ISBN	0780318722
DOI	10.1109/CCA.1993.348351
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-09-13
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot control Force control Digital signal processing Manipulators Hardware Velocity control Sampling methods Orbital robotics Control systems Bandwidth
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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