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

Masaru Uchiyama; Pierre Dauchez

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

Masaru Uchiyama, Pierre Dauchez

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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 language	English
Title of host publication	Unknown Host Publication Title
Publisher	IEEE
Pages	350-356
Number of pages	7
ISBN (Print)	0818608528
Publication status	Published - 1988 Jan 1

ASJC Scopus subject areas

Engineering(all)

Access to Document

Fingerprint Dive into the research topics of 'SYMMETRIC HYBRID POSITION/FORCE CONTROL SCHEME FOR THE COORDINATION OF TWO ROBOTS.'. Together they form a unique fingerprint.

Cite this

@inproceedings{a05495ded49a48e5aa1a5ac06fa7e6b8,

title = "SYMMETRIC HYBRID POSITION/FORCE CONTROL SCHEME FOR THE COORDINATION OF TWO ROBOTS.",

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.",

author = "Masaru Uchiyama and Pierre Dauchez",

year = "1988",

month = jan,

day = "1",

language = "English",

isbn = "0818608528",

pages = "350--356",

booktitle = "Unknown Host Publication Title",

publisher = "IEEE",

}

TY - GEN

T1 - SYMMETRIC HYBRID POSITION/FORCE CONTROL SCHEME FOR THE COORDINATION OF TWO ROBOTS.

AU - Uchiyama, Masaru

AU - Dauchez, Pierre

PY - 1988/1/1

Y1 - 1988/1/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0023672921&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0023672921&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0023672921

SN - 0818608528

SP - 350

EP - 356

BT - Unknown Host Publication Title

PB - IEEE

ER -