Title :
Adaptive load-sharing force control for two-arm manipulators
Author :
Pittelkau, Mark E.
Author_Institution :
Center for Manuf. Res. & Technol. Utilization, Tennessee Technol. Univ., Cookeville, TN, USA
Abstract :
Three problems associated with the two-arm load sharing force controller are considered. These are (1) load sharing; (2) control of interactive forces and torques; and (3) the application of desired forces and torques to the object while maintaining accurate position control. These objectives are achieved by minimizing an interactive force/torque error vector. The computation of this vector requires a wrist force/torque sensor on each manipulator. The adaptive load-sharing controller developed optimizes the distribution of joint torques over both manipulators to increase the efficiency and combined load-carrying capacity of the two manipulators. Simulation results are provided
Keywords :
adaptive control; force control; position control; robots; torque control; adaptive control; adaptive load sharing force control; interactive force/torque error vector; robots; torque control; two-arm manipulators; wrist force/torque sensor; Adaptive control; Error correction; Force control; Force sensors; Manipulator dynamics; Open loop systems; Position control; Programmable control; Stress; Torque control;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12101
