Decentralized coordinated motion control of manipulators with vision and force sensors

Kazuhiro Kosuge, Daiji Taguchi, Toshio Fukuda, Masaru Sakai, Kiyoshi Kanitani

Research output: Contribution to journalConference articlepeer-review

8 Citations (Scopus)

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 languageEnglish
Pages (from-to)2456-2462
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
Publication statusPublished - 1995 Jan 1
EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: 1995 May 211995 May 27

ASJC Scopus subject areas

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

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