Publication
AAAI 1988
Conference paper

Compliance Viewed as Programming a Damped Spring

Abstract

Parts mating often requires the use of compliant motions, which cause an object in the grasp of a robot to slide along obstacles in its environment. This paper is about the interface between a compliant motion programming system and a compliant motion control system. We propose that in this interface the robot can be modeled as a damped spring. This model allows the programming system to specify and reason about compliant motions without worrying about low-level control details. The utility of the damped spring model is demonstrated by applications in teaching and planning of compliant motion strategies.

Date

21 Aug 1988

Publication

AAAI 1988

Authors

Topics

Share