COMPLIANCE WITH PLAN GENERATION

Compliance is usually performed by continuous force scrvo control.In this article we use the switch-ing force guarded motion for compliance.Only allowed threshold forces of each joint are to be detected,the detection measure turns out guite simple.Thus the proccss of compliance bccomes a sequence ofdiscontinuous motion.After assuming the rules of state analysis and motion planning,via analysis andteaching,we use plan generation system and inductive learning method to edit automatically the motionsequence and transfer it into program,and then the robot can be adapted for various proccss in a certainkind of operation.Thus,the robot can not only playback the motion taught,but also induct rules to beused during teaching in order to adapt to all changes in the environment so it is really an intelligent teach-ing.