Document Type

Article

Language

eng

Format of Original

8 p.

Publication Date

8-2001

Publisher

Elsevier

Source Publication

Robotics and Computer-Integrated Manufacturing

Source ISSN

0736-5845

Original Item ID

doi: 10.1016/S0736-5845(00)00060-0

Abstract

This two-part paper presents a method for both improving the positioning capability and increasing the effective stiffness (bracing) of a robotic manipulator through multidirectional compliance and constraint. Improved positioning and improved bracing are attained through the effective use of multiple unilateral kinematic constraints in different directions. The companion paper identified how to specify the compliant characteristics of a manipulator so contact forces lead to deflections that eliminate positional misalignments and result in improved relative positioning through force guidance. In this part, we show that the characteristics beneficial to force guidance are the same characteristics that provide improved bracing when partially constrained by contact. Improved bracing is demonstrated in the context of workpart edge deburring.

Comments

Accepted version. Robotics and Computer-Integrated Manufacturing, Vol. 17, No. 4 (August 2001): 287-294. DOI. © 2001 Elsevier. Used with permission.

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