Polyhedral contact formation modeling and identification for autonomous compliant motion
Polyhedral contact formation modeling and identification for autonomous compliant motion
复制标题
用于自主柔顺运动的多面体接触形成建模和识别
DOI：
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发表时间：
2003
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：
T. Lefebvre;H. Bruyninckx;J. Schutter
本文介绍了接触形成建模的几何参数（位置，方向和尺寸）的刚性多面体对象的力控制执行接触形成序列的识别。与现有技术相比，本文提出了以下改进：1）建模工作量大大减少; 2）在线估计器的测量方程的生成可以更容易地自动化; 3）接触地层序列上的几何参数估计的传播变得简单;测量方程适用于几何参数估计的大不确定性。
This paper describes the contact formation modeling for the identification of geometrical parameters (positions, orientations, and dimensions) of rigid polyhedral objects during the force-controlled execution of contact formation sequences. The following improvements with respect to the state of the art are made: 1) the modeling effort is reduced considerably; 2) the generation of the measurement equations for the online estimators can be automated more easily; 3) the propagation of the geometrical parameter estimates over sequences of contact formations becomes straightforward; and 4) the measurement equations are valid for large uncertainties on the geometrical parameter estimates.