Safe strategy of door opening with impendance controlled manipulator

• Autorzy: Winiarski T. , Banachowicz K. , Stefańczyk M.
• Konferencja: National Conference on Robotics (12, 12-16.2012, Świeradów-Zdrój, Poland)
• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

manipulation; impedance control; service robots

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2013
• Tom: Vol. 7, No. 4
• Strony: 21--26
• Opis fizyczny: Bibliogr. 16 poz., rys.

Twórcy

autor

Winiarski T.

• Institute of Control and Computation Engineering, Warsaw University of Technology, www: http://robotics.ia.pw.edu.pl

autor

Banachowicz K.

• Institute of Control and Computation Engineering, Warsaw University of Technology

autor

Stefańczyk M.

• Institute of Control and Computation Engineering, Warsaw University of Technology

Bibliografia

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