A message from the ECHORD coordinator Alois Knoll

Walk-through programming The programming mode has been realised through a set of admittance controllers. It must be noticed that the tests reaveal that the classical implementation of the walk-through programming mode does not allow for motion in contact with a surface. It turns out that realising the walk-through...

Walk-through programming The problem of walk-through programming in contact with an hard surface is still under studying. The main concerns are related to the implementation of a robust algorithm to detect the contact and estimate the normal to the surface. Wheel localisation and burr analysis To localise the wheel a...

Contour following and profile estimation Three different experiments have been performed to test the contour following algorithm. The first one concerns the measurement of a linear profile with an artificial burr (Figs. 1-2). Fig. 1 Fig. 2 Fig. 3 The two other experiments show the performance of the contour following system...