DocumentCode
3246704
Title
Task modeling and force control for a two-arm robot
Author
Dauchez, Pierre ; Delebarre, Xavier ; Bouffard, Yann ; Dégoulange, Eric
Author_Institution
LAMM, Montpellier II Univ., France
fYear
1991
fDate
9-11 Apr 1991
Firstpage
1702
Abstract
The authors present solutions for manipulating objects with two robotic arms, when force control is necessary. The applications of interest are the transport and assembly of rigid objects, the deformation, transport, and assembly of flexible objects, and the assembly in space of two objects, each being held by one arm. The authors present a theoretical solution for modeling the tasks and practical solutions implemented for controlling two six-axis arms
Keywords
aerospace control; assembling; control system analysis; force control; materials handling; robots; aerospace control; flexible object assembly; force control; rigid object assembly; six-axis arms; task modelling; two-arm robot; Arm; Clouds; Force control; Force sensors; IEEE members; Oceans; Orbital robotics; Robotic assembly; Robots; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.131865
Filename
131865
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