Newsgroups: comp.robotics
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From: acc@dibble.cee.hw.ac.uk (Andrew Clegg)
Subject: Re: Active and Mechanical/Passive Compliance in Robotics
In-Reply-To: piero@nakano.me.tohoku.ac.jp's message of 20 Oct 94 11:38:08
Message-ID: <ACC.94Oct26114106@dibble.cee.hw.ac.uk>
Sender: news@cee.hw.ac.uk (News Administrator)
Reply-To: acc@cee.hw.ac.uk
Organization: Ocean Systems Lab. Heriot-Watt University, Edinburgh
References: <PIERO.94Oct20113808@griffon.nakano.me.tohoku.ac.jp>
Date: Wed, 26 Oct 1994 11:41:06 GMT
Lines: 27

In article <PIERO.94Oct20113808@griffon.nakano.me.tohoku.ac.jp> piero@nakano.me.tohoku.ac.jp (Piero Velletri) writes:

> One of my main objectives is to come up with some sort of simple
> mechanical compliance device that can be applied to robot
> manipulators.  The motivation for this research comes from the fact
> that active compliance control is difficult to implement on actual
> robots (or am I mistaken?).  Does anyone know of actual robots
> (industrial or otherwise) which implement an active compliance control
> scheme? (I found one application in an underwater manipulator)

In my research on hydraulic underwater manipulators I've implemented an
active compliance system that enables out robot to mate a typical
underwater connector and socket together.

The connector does have some passive compliance in-built, but the
active compliance does play a role in the mating. The controllers used
are just fixed gain, and it is very difficult to determine the gains
to use to give a reliable insertion. I'm starting to work on
self-tuning controllers to achieve better results for a wider range of
situations.

Andy Clegg________________________________________acc@cee.hw.ac.uk___

Ocean Systems Lab, Dept of Computing & Electrical Engineering,
Heriot-Watt University, Edinburgh, EH14 4AS	  Tel : 031 451 3506
http://www.cee.hw.ac.uk/~acc/acc.html		  Fax : 031 451 3327
_____________________________________________________________________
