Primitive A computer program that bridges the gap between planning and execution of compliant robotic motions has been developed and installed in the control system of a telerobot at NASA's Jet Propulsion Laboratory. The program comprises four parts that correspond to nominal motion, compliant motion, ending motion, and monitoring, respectively.
Nominal motion is motion of the robot along the specified trajectory.
Compliant motion is perturbation of the nominal motion due to sensory inputs, e.g., force control, teleoperation, and joint and Cartesian space virtual forces. Force and torque data are read from a six-axis force sensor. Contact forces are computed by subtracting, from sensed forces, the contributions of the weight of the manipulated object in the given robot pose. The program is written in the C language, with utilities from the RCCL robot prog ramming and control software system. Generalized Compliant Motion With Sensor Fusion .