Teleri (telerib) wrote,
Teleri
telerib

Quote of the Day

"Oh, good baby, learning to moderate your applied forces in the Z direction!"
- Yeah, that'd be me.

"Compliance control" is a make-believe spring-mass-damper system that's superimposed on the robot's joints to make them act springy. You need a force sensor, too, usually at the robot wrist. When the sensor goes off, the commands to the robot are modified based on the sensed force. This prevents a very strong robot from smashing through a more delicate object that it would like to touch.

The Spud is newly fascinated with his stacking cups. We stack them for him, and he likes to touch them just a little so that the stack wobbles but doesn't fall down. He is, essentially, tuning his own compliance controller.
Tags: qotd
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