DocumentCode
1822628
Title
Coordinated motion control of multiple robots manipulating a large object
Author
Kosuge, Kazuhiro ; Hashimoto, Satoshi ; Takeo, Koji
Author_Institution
Dept. of Mech. Eng., Tohoku Univ., Sendai, Japan
Volume
1
fYear
1997
fDate
7-11 Sep 1997
Firstpage
208
Abstract
In this paper, we discuss a problem relating to the force/moment transformation for the handling a large object by multiple robots in coordination. Three control algorithms, based on impedance control of each manipulator, are then proposed so as to lessen the effect of the transformation. The algorithms are implemented in dual manipulator system, which consists of two industrial robots. Experimental results illustrate the validity of the proposed control algorithms
Keywords
manipulators; coordinated motion control; dual manipulator system; force/moment transformation; impedance control; industrial robots; multiple robots; Automatic control; Force sensors; Impedance; Manipulators; Mechanical engineering; Medical robotics; Motion control; Robot kinematics; Robotics and automation; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location
Grenoble
Print_ISBN
0-7803-4119-8
Type
conf
DOI
10.1109/IROS.1997.649055
Filename
649055
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