HYBRID POSITION/FORCE CONTROL FOR COORDINATION OF A TWO-ARM ROBOT.

Masaru Uchiyama, Naotoshi Iwasawa, Kyojiro Hakomori

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    75 Citations (Scopus)

    Abstract

    The authors discuss the control of cooperating tasks being done by by two robotic arms. In order to control those tasks, they extend a hybrid position/force control scheme for a single-arm robot. The point of the extension is the formulation of kinematics and statics for a two arm robot. The authors define a unique system of workspace coordinates, and, corresponding to the unique workspace, introduce an unique jointspace vector consisting of joint vectors of the two arms. Using these work and joint spaces, the authors formulate the kinematics and statics, and successfully apply the hybrid scheme to the two-arm robot. A demonstration of the theory on a real two-arm industrial robot and experimental data of simultaneous control of position and force proves the effectiveness of the extended method.

    Original languageEnglish
    Title of host publicationUnknown Host Publication Title
    PublisherIEEE
    Pages1242-1247
    Number of pages6
    ISBN (Print)0818607874
    Publication statusPublished - 1987 Jan 1

    ASJC Scopus subject areas

    • Engineering(all)

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  • Cite this

    Uchiyama, M., Iwasawa, N., & Hakomori, K. (1987). HYBRID POSITION/FORCE CONTROL FOR COORDINATION OF A TWO-ARM ROBOT. In Unknown Host Publication Title (pp. 1242-1247). IEEE.