Adaptive load sharing for hybrid controlled two cooperative manipulators

Masaru Uchiyama, Toshiaki Yamashita

    Research output: Contribution to journalConference articlepeer-review

    10 Citations (Scopus)

    Abstract

    Adaptive load sharing of two cooperative manipulators that hold a common object is examined from the viewpoint of robust holding. Task vectors to describe the task are first summarized, and a hybrid control scheme for the simultaneous control of holding forces and carrying positions is presented. Within the framework of the hybrid control, the robust holding problem is analyzed, paying attention to the contact conditions between the manipulators and the object. The contact conditions are formulated as a set of linear inequalities with respect to the load sharing coefficients. Based on the analysis, a heuristic but very simple algorithm for online adaptation is presented. The algorithm is corroborated experimentally.

    Original languageEnglish
    Pages (from-to)986-991
    Number of pages6
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Volume2
    Publication statusPublished - 1991 Jan 1
    EventProceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA
    Duration: 1991 Apr 91991 Apr 11

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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