SYMMETRIC HYBRID POSITION/FORCE CONTROL SCHEME FOR THE COORDINATION OF TWO ROBOTS.

Masaru Uchiyama, Pierre Dauchez

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

    180 Citations (Scopus)

    Abstract

    A non-master/slave scheme, called the symmetric scheme, is proposed for the coordination of two robots to manipulate a single object jointly. The definition of workspace force, velocity, and position vectors as symmetric functions of the jointspace force, velocity, and position vectors of the two robots is essential to implementing the symmetric scheme. These workspace vectors are derived by first analyzing the statics of the closed kinematic chain consisting of the two robots and the object, and then calculating velocities using the force-velocity duality. The workspace-position vector is defined by integrating the velocities. The derived workspace vectors are used successfully to implement the symmetric scheme.

    Original languageEnglish
    Title of host publicationUnknown Host Publication Title
    PublisherIEEE
    Pages350-356
    Number of pages7
    ISBN (Print)0818608528
    Publication statusPublished - 1988 Jan 1

    ASJC Scopus subject areas

    • Engineering(all)

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