Helena Bruyninckx

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Model-based constrained motion is presented as an extension to Mason's 'task frame' or 'compliance frame' formalism (1981). The basic model building blocks are the constraint's 'features'. Their explicit use of symbolical, geometrical and analytical models of the motion constraints increases the flexibility in specification and control. This results in a(More)
This paper discusses the \Task Frame" (TF) as a central concept in (hybrid) robot force control and task speciication. The title serves a double purpose: it refers to the desirable ability of a force controller to adapt on-line the motion constraint model on which the control is based, but also to the scientiic evolution of the TF concept during the last(More)
For pt.a see ibid., p.976-81 (1991). The authors present the fundamentals of a framework for model-based online identification of 'complex' motion constraints during force controlled 'constrained', or 'compliant', motion tasks. The identification approach is a generalization of the 'tracking' in Mason's 'compliance' or 'task' frame. Its range of possible(More)
This paper presents an open embedded hardware and software architecture for industrial robot control. Open hardware refers to open source IP-core provided by the authors, while open software implies the use of open source software, specifically Linux and OROCOS [1]. Embedded implies integration of various functional blocks on one System-On-Chip board, for(More)
— In order to allow safe operation and good performance , robots need an accurate model of their environment. Such a world model is constructed from sensor detections and typically contains information about positions and velocities of surrounding objects. This paper proposes how prior knowledge about those objects can be used to improve the performance of(More)