DocumentCode
1526225
Title
Coordination of two planar robots in lifting
Author
Laroussi, Kader ; Hemami, Hooshang ; Goddard, Ralph E.
Author_Institution
Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
Volume
4
Issue
1
fYear
1988
Firstpage
77
Lastpage
85
Abstract
The dynamic equations for a two-robot system with and without load are formulated. For control purposes, the constraint forces are derived as functions of input and state. The inverse plant method and computation of the constraint forces are used to coordinate the control of the system. No pressure or force sensors are considered, and no force feedback is used. The effectiveness of the control strategy for point-to-point motion of the coordinated robots performing a lifting task is checked by digital computer simulations.<>
Keywords
control system analysis; dynamics; force control; position control; robots; constraint forces; control strategy; coordinated robots; dynamic equations; inverse plant method; lifting task; planar robots; point-to-point motion; two-robot system; Computational geometry; Computer simulation; Contacts; Control systems; Force control; Force feedback; Predictive models; Robot control; Robot kinematics; Robot sensing systems;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Journal of
Publisher
ieee
ISSN
0882-4967
Type
jour
DOI
10.1109/56.774
Filename
774
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