Control of two industrial manipulators rigidly holding an egg

Author

Zhu, Wen-Hong ; Schutter, Joris De

Author_Institution

Dept. of Electr. & Comput. Eng., British Columbia Univ., Vancouver, BC, Canada

Volume

19

Issue

2

fYear

1999

fDate

4/1/1999 12:00:00 AM

Firstpage

24

Lastpage

30

Abstract

Based on the framework of general constrained robots, a delicate experiment with control of two heavy-duty industrial robots rigidly holding a raw egg is reported. The system possesses smooth transition behavior from free motion to constrained motion when working with unilateral constraints, since a unified no-switching control law is used. This experiment indicates that the robots have the capability to perform very delicate operations with the aid of advanced control algorithms and force feedback. It also reveals potential applications to human-centered robotics

Keywords

force control; force feedback; industrial manipulators; multi-robot systems; advanced control algorithms; constrained motion; delicate operations; force feedback; free motion; general constrained robots; heavy-duty industrial robots; human-centered robotics; industrial manipulators; raw egg; smooth transition behavior; unified no-switching control law; unilateral constraints; Adaptive control; Design engineering; Force control; Industrial control; Motion control; Orbital robotics; Robot kinematics; Service robots; Stability; Symmetric matrices;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/37.753932

Filename

753932