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Robotic manipulation in a remote environment places a premium on the autonomy and reliability of the robot control system. A robotic excavator must be able to accept high-level operator commands and perform the excavation task without additional external input. An excavation robot must also be able to operate in all three states of manipulator motion: free-space, contact and exertion of a force against an environment. A position-accommodation control scheme allows the robot to effectively operate in all three states and transition smoothly between states. This study outlines the various models used to predict soil-tool interaction forces, as well as how soil changes under excavation various conditions. Excavation simulations compare the performance of a position controlled robot and a compliance controlled robot using position accommodation. Common excavation trajectories are used in the simulations.
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Position accommodation and compliance control for robotic excavation.
2006
in English
0494160616 9780494160619
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Position accommodation and compliance control for robotic excavation.
2006
in English
0494160616 9780494160619
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Book Details
Edition Notes
Source: Masters Abstracts International, Volume: 44-06, page: 2869.
Thesis (M.A.Sc.)--University of Toronto, 2006.
Includes bibliographical references.
Electronic version licensed for access by U. of T. users.
ROBARTS MICROTEXT copy on microfiche.
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