Coordinated motion control of multiple robots manipulating a large object

K. Kosuge, S. Hashimoto, K. Takeo

Research output: Contribution to conferencePaperpeer-review

20 Citations (Scopus)

Abstract

In this paper, we discuss a problem relating to the force/moment transformation for the handling a large object by multiple robots in coordination. Three control algorithms, based on impedance control of each manipulator, are then proposed so as to lessen the effect of the transformation. The algorithms are implemented in dual manipulator system, which consists of two industrial robots. Experimental results illustrate the validity of the proposed control algorithms.

Original languageEnglish
Pages208-213
Number of pages6
Publication statusPublished - 1997 Dec 1
EventProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3) - Grenoble, Fr
Duration: 1997 Sep 71997 Sep 11

Other

OtherProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3)
CityGrenoble, Fr
Period97/9/797/9/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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