Title :
Towards robust hybrid control for two-arm robots
Author :
Fraisse, Philippe ; Delebarre, Xavier ; Dauchez, Pierre ; Pierrot, Francois
Author_Institution :
LAMM-URA CNRS, Montpellier Univ., France
Abstract :
In order to perform complex coordinated tasks with a two-arm robot, some kind of robust hybrid position/force control is necessary. As a first step towards such a control scheme, the authors present mainly the results they have obtained in simulation with a single-arm robot. They have developed a simulator which allows one to test various control algorithms. In particular, they have tested a variable structure system for the hybrid control of a Puma robot. Several experimental results are presented in this case. Controlled variables for a two-arm system are also proposed
Keywords :
control system analysis; force control; position control; robots; variable structure systems; complex coordinated tasks; hybrid position/force control; robust hybrid control; two-arm robots; variable structure system; Control systems; Force control; Master-slave; Pulse amplifiers; Robot control; Robot kinematics; Robust control; Sampling methods; Testing; Variable structure systems;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174472