DocumentCode
2538735
Title
Cooperative motion control of multiple robot arms or fingers
Author
Arimoto, S. ; Miyazaki, F. ; Kawamura, S.
Author_Institution
Osaka University, Osaka, Japan
Volume
4
fYear
1987
fDate
31837
Firstpage
1407
Lastpage
1412
Abstract
A new cooperative motion control scheme for multiple robot arms or fingers is proposed, which is derived from the analogy of a bilateral control for teleoperation of a system of master and slave robots. A group of some robot arms (or fingers) are moved in cooperation with the master ones. It is shown that a Lyapunov method gives rise to an assurence of the asymptotic.
Keywords
Arm; Control systems; Fingers; Humans; Lyapunov method; Manipulators; Master-slave; Motion control; Robots; Robust stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1987.1087820
Filename
1087820
Link To Document