Abstract
It is very important for robots working in unknown environment to recognize surface profile of the environment. This paper presents an extraction method of environmental surface profile based on environmental modes. Contact condition between a planar end-effector and the environment is also determined by using active motion which is named "groping motion" of the end-effector. The extraction method utilizes discrete Fourier transform (DFT) matrices as matrices transforming into environmental modes. The proposed method can be applied to a planar end-effector whose shape is an arbitrary polygon. Moreover, a compliance controller for attitude of a planar end-effector with 3 supporting points is proposed to realize stable contact motion with unknown environment. The validity of the proposed method is shown by the experimental results.
| Original language | English |
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| Pages | 368-373 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2006 Nov 21 |
| Event | 9th IEEE International Workshop on Advanced Motion Control, 2006 - Istanbul, Turkey Duration: 2006 Mar 27 → 2006 Mar 29 |
Other
| Other | 9th IEEE International Workshop on Advanced Motion Control, 2006 |
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| Country/Territory | Turkey |
| City | Istanbul |
| Period | 06/3/27 → 06/3/29 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modelling and Simulation
- Computer Science Applications
- Electrical and Electronic Engineering