Integration of planning and execution in force controlled compliant motion

This paper presents the Compliant Task Generator: a new approach for the automatic conversion of a geometric path generated by a compliant path planner to a force based task specification for a compliant robot controller. Based on the geometric model of a moving object and its environment, a compliant path planner generates a set of six-dimensional

• Type: Journal
• Year: 2008
• Where: RAS
• Authors: Wim Meeussen, Ernesto Staffetti, Herman Bruyninckx, Jing Xiao, Joris De Schutter
• Keywords: Compliant Path Planner, Compliant Robot Controller, Compliant Task Generator, RAS 2008