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
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;
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
DOI :
10.1109/IROS.1997.649055
