Title :
Coordinated control of multiple manipulator systems-experimental results
Author :
Hsu, Ping ; Su, Steven
Author_Institution :
Dept. of Electr. Eng., San Jose State Univ., CA, USA
Abstract :
The authors report experimental results of a scheme for controlling multiple manipulator systems. The control objective was to steer the payload to track a preplanned trajectory while controlling the interaction forces and the load distribution among the manipulators. The scheme was implemented on a planar SCARA-type dual-manipulator system. The hardware configuration of the experimental system is described. Experimental data are presented to demonstrate various aspects of the system performance including trajectory tracking control, load distribution, interaction force control, and robustness to model mismatch
Keywords :
force control; manipulators; position control; coordinated control; interaction force control; load distribution; multiple manipulator systems; planar SCARA-type dual-manipulator; robots; robustness; trajectory tracking control; Automatic control; Control systems; Equations; Force control; Manipulator dynamics; Null space; Payloads; Torque; Trajectory; Transmission line matrix methods;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.219931