Contact identification and monitoring based on energy
Contact identification and monitoring based on energy
复制标题
基于能量的接触者识别与监测
DOI：
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发表时间：
1996
期刊：
影响因子：
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通讯作者：
J. Schutter
中科院分区：
文献类型：
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作者：
S. Dutré;H. Bruyninckx;J. Schutter
本文提出了一种系统的和完全通用的基于模型的方法来识别几何不确定性，并检测拓扑转换在顺应运动机器人任务的接触情况。重点不是控制，而是建模、在线不确定性识别和模型验证（监测）。提出的识别和监测方法是基于能量的考虑，因此相对于数学表示的变化是不变的。为了验证接触模型的正确性，只需监测一个信号。一个真实的世界实验说明了理论上的发展：一个完整的组装钉到一个洞。由于计算复杂性，仅执行离线识别和监测。
This article presents a systematic and fully general model-based approach to identify geometrical uncertainties and to detect topological transitions in contact situations during compliant motion robot tasks. The emphasis is not on control but on modelling, online uncertainty identification and model validation (monitoring). The identification and monitoring methods presented are based on energy considerations and thus are invariant with respect to changes in the mathematical representations. Only one signal has to be monitored in order to validate the correctness of the contact model. The theoretical developments are illustrated by a real world experiment: a complete assembly of a peg into a hole. Due to the computational complexity, only off-line identification and monitoring are executed.