Abstract
Compliant motion tasks are tasks in which a robot moves a manipulated object while controlling the contact with object(s) in its environment. Still today, in industry, compliant motion tasks are often position-controlled. Hence, they require very structured environments, i.e., the work pieces or parts to assemble are accurately positioned and their dimensions are known. In these cases, the robot receives and executes a nominal task plan.
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Lefebvre, T., Bruyninckx, H., De Schutter, J. 1 Introduction. In: Nonlinear Kalman Filtering for Force-Controlled Robot Tasks. Springer Tracts in Advanced Robotics, vol 19. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11533054_1
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DOI: https://doi.org/10.1007/11533054_1
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-28023-1
Online ISBN: 978-3-540-31504-9
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