Title :
An approach to controlling multi-arm robotic manipulation of a single body
Author :
Swern, F.L. ; Tricamo, Stephen J.
Author_Institution :
Dept. of Mech. Eng., Stevens Inst. of Technol., Hoboken, NJ, USA
Abstract :
When more than one robot arm is used to manipulate an object, internal forces (i.e. forces of constraint) may be developed in the object. This effect is due to many factors, including manipulator position and trajectory errors. An approach is presented that reduces these constraint forces using force/torque sensor data. A control algorithm is developed that eliminates the constraint forces by supplying a position correction to each arm
Keywords :
position control; robots; internal forces; multi-arm robotic manipulation; position control; position correction; position errors; trajectory errors; Arm; Force control; Force sensors; Gravity; Manipulators; Orbital robotics; Robot control; Robot kinematics; Robot sensing systems; Transducers;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12104
