Title :
A real-time control system for the coordination of two industrial robots
Author_Institution :
Inst. for Real-Time Comput. Syst. Robotics, Karlsruhe Univ.
Abstract :
Coordination of multiple manipulators is a well investigated research topic, but only few approaches were proved by experimental results. In this paper, a new scheme for coordinating and controlling two manipulators, based on hybrid position/force control is presented and validated by experiments. This new scheme is based on underlaying position control and therefore usable for industrial robot control systems
Keywords :
cooperative systems; force control; industrial robots; position control; real-time systems; force control; industrial robots; multiple manipulators coordination; position control; real-time control system; Control systems; Delay effects; Electrical equipment industry; Force control; Industrial control; Manipulators; Master-slave; Real time systems; Robot kinematics; Service robots;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351201
