Title :
Hand-over of unstable object between multiple manipulators
Author :
Hoshino, Tasuku ; Furuta, Katsuhisa
Author_Institution :
Dept. of Manage. & Syst. Eng., Sci. Univ. of Tokyo, Japan
Abstract :
Deals with the coordinated controller design for a certain kind of cooperative manipulation of an unstable object with multiple robotic manipulators. Based on the system description in the framework of differential-algebraic equations (DAEs), control problems of the object manipulation with single and two manipulators are formulated. By characterizing a hand-over operation as a result of the simultaneous solution to the both problems, a reliable-controller design technique is applied to derive the controllers. Thus formulating the hand-over control problem as a reliable control problem derives a class of the object which can be handed over at least by using the proposed control scheme and a constructive design method of the controllers. The experimental results are included.
Keywords :
algebra; control system synthesis; differential equations; manipulators; multi-robot systems; position control; stability; cooperative manipulation; differential-algebraic equations; hand-over operation; multiple manipulators; object manipulation; reliable-controller design technique; unstable object; Control system synthesis; Control systems; Design methodology; Differential equations; Force control; Force sensors; Manipulators; Robot kinematics; Solids; Strain control;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.933161