In this paper we describe an algorithm to allow a manipulator to track a complex contour without having to teach or program any points on the contour. This is an important problem in many manufacturing situations, when a robot tool such as a deburring tool must follow a complex work piece contour. La such instances it is tedious to teach or program the manipulator to follow such contour additionally calibration of the manipulator or the workpart may be difficult. The algorithm we present has been experimentally demonstrated utilizing a force sensor, a five degree of freedom manipulator and a 68000 single board computer.
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