DocumentCode
1865011
Title
Experimental results of two robot arms manipulating large objects
Author
Paljug, Eric ; Yun, Xiaoping
Author_Institution
Jet Propulsion Lab., Pasadena, CA, USA
fYear
1993
fDate
2-6 May 1993
Firstpage
517
Abstract
Experimental results for the TRACS testbed, consisting of two PUMA 250 robot arms, are presented. The two arms manipulate a large object by means of an enveloping grasp. A dynamic control algorithm developed for coordinating two robotic arms have been successfully implemented. The results from two experimental tasks in which the two arms move an object while adapting the grasp configuration to the motion trajectory and to an external disturbance force are described in detail
Keywords
robots; PUMA 250 robot arms; TRACS testbed; dynamic control algorithm; enveloping grasp; external disturbance force; grasp configuration adaptation; motion trajectory; Arm; Drives; Force control; Heuristic algorithms; Laboratories; Manipulators; Propulsion; Robot kinematics; System testing; Transportation;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-8186-3450-2
Type
conf
DOI
10.1109/ROBOT.1993.292031
Filename
292031
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