DocumentCode
489256
Title
Motion Control of Multiple Arms
Author
Zilouchian, A.
Author_Institution
Department of Electrical Engineering, Florida Atlantic University, Boca Raton, Florida 33431
fYear
1991
fDate
26-28 June 1991
Firstpage
3066
Lastpage
3067
Abstract
A multidimensional iterative model for the control analysis of two cooperating robots is proposed. The manipulation of a rigid object with elastic restraint between the object and the end effectors using the proposed model is investigated. The scheme is based on an iterative structure which utilizes available data from the previous operation for a specified trajectory and applied forces to the object. It is shown that the convergence of the actual trajectory to the desired one is guaranteed upon proper selction of a weighted control matrix.
Keywords
Arm; Computer aided manufacturing; Control systems; End effectors; Equations; Force control; Jacobian matrices; Manipulators; Motion control; Robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1991
Conference_Location
Boston, MA, USA
Print_ISBN
0-87942-565-2
Type
conf
Filename
4791969
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