Real-time skills of robot manipulators for unstructured environments

Serdar Kalaycioglu

doi:10.1117/12.164904

21 December 1993 Real-time skills of robot manipulators for unstructured environments

Serdar Kalaycioglu

Proceedings Volume 2057, Telemanipulator Technology and Space Telerobotics; (1993) https://doi.org/10.1117/12.164904
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

This paper presents an overview of the developed modified impedance control (MIC) concept and provides real-time sensor based robot capabilities (gross and fine motion-skills). These skills are mandatory requirements for the telerobotics systems to execute unstructured tasks in an unstructured/uncertain environment (i.e., space, defence operations, etc.). A special emphasis is given to the applications of Space Station Freedom operations. The first part of the paper focuses on the (free) gross motion of the robot manipulators and provides a real-time collision avoidance approach for complete posture (all links) of a robot manipulator in an unstructured environment based on MIC concept. The second part of the paper presents contact motion skills. The experimental demonstrations show that the MIC concept is very efficient, satisfactory, and an important candidate for manipulation control of complex tasks since it allows real-time collision avoidance as well as contact motion capability.

Citation Download Citation

Serdar Kalaycioglu "Real-time skills of robot manipulators for unstructured environments", Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); https://doi.org/10.1117/12.164904

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available