DocumentCode
2331904
Title
A real-time control system for the coordination of two industrial robots
Author
Damm, M.
Author_Institution
Inst. for Real-Time Comput. Syst. Robotics, Karlsruhe Univ.
fYear
1994
fDate
8-13 May 1994
Firstpage
1182
Abstract
Coordination of multiple manipulators is a well investigated research topic, but only few approaches were proved by experimental results. In this paper, a new scheme for coordinating and controlling two manipulators, based on hybrid position/force control is presented and validated by experiments. This new scheme is based on underlaying position control and therefore usable for industrial robot control systems
Keywords
cooperative systems; force control; industrial robots; position control; real-time systems; force control; industrial robots; multiple manipulators coordination; position control; real-time control system; Control systems; Delay effects; Electrical equipment industry; Force control; Industrial control; Manipulators; Master-slave; Real time systems; Robot kinematics; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location
San Diego, CA
Print_ISBN
0-8186-5330-2
Type
conf
DOI
10.1109/ROBOT.1994.351201
Filename
351201
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