DocumentCode
489146
Title
Dynamics and Regrasping for Multiple Cooperating Robot Manipulators
Author
Walker, Ian D.
Author_Institution
Department of Electrical and Computer Engineering, Rice University, Houston, TX 77251-1892
fYear
1991
fDate
26-28 June 1991
Firstpage
2509
Lastpage
2514
Abstract
This paper presents new results in the cooperative manipulation of objects by two or more manipulators. The case of contact due to additional manipulators grasping, or regrasping, a common object held by one or more manipulators is discussed. A model of instantaneous contact is derived, and the impulse force generated by contact found, based on the dynamic models of the manipulators and object. Applications to planning and control of interactive manipulation of common objects by multiple arms are discussed.
Keywords
Arm; Contacts; End effectors; Fingers; Humans; Jacobian matrices; Legged locomotion; Manipulator dynamics; Robot kinematics; Solid modeling;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1991
Conference_Location
Boston, MA, USA
Print_ISBN
0-87942-565-2
Type
conf
Filename
4791855
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