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Audit-based compliance control
International Journal of Information Security, 2007In this paper we introduce a new framework for controlling compliance to discretionary access control policies [Cederquist et al. in Proceedings of the International Workshop on Policies for Distributed Systems and Networks (POLICY), 2005; Corin et al. in Proceedings of the IFIP Workshop on Formal Aspects in Security and Trust (FAST), 2004].
J. G. Cederquist +5 more
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Compliance Control of Tele-Robot
Proceedings of Conference on Advances In Robotics, 2013Compliance control is essential for tasks involving interaction of the robot with the environment with contact forces e.g. sliding on an inclined plane, drawing on a rigid surface, opening the lid of a box etc. Pure position control is not sufficient for such tasks since a small variation in relative position at the contact surface may generate large ...
Teja Swaroop Tumapala +3 more
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A study on compliance control for manipulator
IEEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications, 2002The compliant motion control of a manipulator is proposed by the self-tuning adaptive control method. Compliant motion is needed in such complicated and accurate fields as assembly operation in which several parts are mated. Among compliant motion control methods, the hybrid control is used so that force and position control is processed selectively ...
Misun Do +3 more
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Fuzzy compliance robot control
Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91, 2002Proposes a compliance robot control algorithm using fuzzy adaptive controller and fuzzy compliance vector generator. In the compliance robot control, one needs more adaptivity because the linear modeling in robot dynamics is getting more difficult by contact with external environment. Existing adaptive controllers have difficulty in realtime processing.
Seungwoo Kim, Mignon Park
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On the Role of Compliance in Force Control
2015This paper proposes an overview and an interpretation on the role of compliance in force control within a framework where adaptive control arise as an intuitive approach. In our analysis, we show that force control stability can be assured only if exists a compliant interface between the robot and the environment.
Andrea Calanca, Paolo Fiorini
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