Skip to main content

Surface shape recovery with a force-controlled robot

Buy Article:

$60.90 plus tax (Refund Policy)


This paper shows how to compute the local second-order shape of an unknown surface with a force-controlled robot. Dedicated tools and paths are designed in order to make this shape recovery easier. Two basic methods are presented, based on measurements of contact forces and of positions and velocities of the end effector. The first method fits a surface through a set of contact points while the second method uses the shape of surface curves. Experiments show that following two curves of limited length is sufficient to identify second-order surface shape with an accuracy which is in general better than 10%. The most important result, however, is that this accuracy is sufficient to increase the performance of subsequent surface following tasks.

Document Type: Research Article


Affiliations: Katholieke Universiteit Leuven, Department of Mechanical Engineering, Division PMA, Celestijnenlaan 300B, B-3001 Heverlee, Belgium

Publication date: January 1, 1996


Access Key

Free Content
Free content
New Content
New content
Open Access Content
Open access content
Subscribed Content
Subscribed content
Free Trial Content
Free trial content
Cookie Policy
Cookie Policy
ingentaconnect website makes use of cookies so as to keep track of data that you have filled in. I am Happy with this Find out more