DocumentCode
3065535
Title
On a control scheme for two cooperating robot arms
Author
Joonhong Lim ; Chyung, D.H.
Author_Institution
University of Iowa, Iowa University, Iowa
fYear
1985
fDate
11-13 Dec. 1985
Firstpage
334
Lastpage
337
Abstract
The problem of controlling two robot arms in a cooperative manner is investigated. The main purpose is to move an object by grasping it at two different points using two separate robot arms. A position control method using the differential relations between the object and the two robot arms is proposed. The differential change of the object is transformed into that of each robot arm, and then the differential change of each joint of the two robot arms is derived. The movements of each robot arm are controlled in small increments. An experiment was performed to demonstrate the proposed method.
Keywords
Arm; Cities and towns; Grasping; Jacobian matrices; Manipulators; Robot control; Robot kinematics; Servomechanisms;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1985 24th IEEE Conference on
Conference_Location
Fort Lauderdale, FL, USA
Type
conf
DOI
10.1109/CDC.1985.268860
Filename
4048301
Link To Document