Abstract
We propose a coordinated motion control algorithm of manipulators, by which each manipulator is controlled by its own controller in a decentralized way. In this paper, we consider both manipulation of a single object and assembly of two parts by two arms in coordination. When two arms are manipulating a single object, a follower estimates the desired motion of a leader based on the information from its own force sensor and executes the task in coordination with the leader. An assembly task is described by a motion of a part manipulated by the leader and the relative motion between two parts given to the follower. The relative motion is observed and controlled by a vision sensor attached to the follower and the assembly task is executed independently of the motion of the leader. Experimental results illustrate the proposed system.
| Original language | English |
|---|---|
| Pages (from-to) | 2456-2462 |
| Number of pages | 7 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 3 |
| Publication status | Published - 1995 Jan 1 |
| Event | Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn Duration: 1995 May 21 → 1995 May 27 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering