Title :
Experimental results of two robot arms manipulating large objects
Author :
Paljug, Eric ; Yun, Xiaoping
Author_Institution :
Jet Propulsion Lab., Pasadena, CA, USA
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;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292031
