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The International Journal of Robotics Research
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A Sensor-Based Robot Transition Control Strategy

Y.F. Li

Department of Manufacturing Engineering City University of Hong Kong Kowloon, Hong Kong

This article presents a real-time sensor-based control approach to the manipulation of the transition of a robot from free space motion to contact with an environment. Use is made of exter nal sensors, including proximity sensors and a force sensor at the end effector of the robot, to control the interaction between the robot and its environment. To achieve direct robot end-effector position control, a short-range fiber optic proximity sensor is used. A multi-phase cantrol strategy is proposed that includes an approach phase, where a force con trol scheme is used prior to contact, as well as a proximity phase where the proximity sensor-based control is employed. Implementation results carried out on an industrial robot are reported.

The International Journal of Robotics Research, Vol. 15, No. 2, 128-136 (1996)
DOI: 10.1177/027836499601500202
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W.H. Wang, X.Y. Liu, and Y. Sun
Contact Detection in Microrobotic Manipulation
The International Journal of Robotics Research, August 1, 2007; 26(8): 821 - 828.
[Abstract] [PDF]