In our laboratory, we developed a dual-arm handling robot, called C-ARM (Cooperative-ARM), with the aim of practical application in shipbuilding work. The robot consists of two three-degrees-of-freedom planar arms with force/torque sensors at each joint. The manipulating forces and moments on the object are measured by the sensors. In this paper, we present results of an experiment on cooperative control using this dual-arm robot. The experiment consists of two parts: a fundamental experiment on hybrid position/force control using a symmetric scheme, and an experiment on load sharing. The load sharing is an application of the first experiment in which a quadratic programming algorithm for optimizing the internal forces and moments is used. Experimental results show that the hybrid position/force control scheme works well in cooperative control and that the load sharing optimizes the joint forces/torques of the robot.
|Number of pages||7|
|Journal||Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C|
|Publication status||Published - 1996|
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering