Unified control for dynamic cooperative manipulation

Kazuhiro Kosuge, Hidehiro Yoshida, Toshio Fukuda, Masaru Sakai, Kiyoshi Kanitani, Kazuo Hariki

Research output: Contribution to conferencePaperpeer-review

11 Citations (Scopus)

Abstract

This paper proposes a unified coordinated motion control algorithm of manipulators, which is applicable to both manipulation of an object and a parts-mating task. First, we consider the manipulation of an object by impedance controlled manipulators; the impedance of each arm is designed so that the apparent impedance of the manipulated object is specified. Then we consider the parts-mating problem using the same control algorithm proposed for the manipulation of a single object. We propose a method to design the impedance of each arm so that the relative motion of two manipulators has the dynamics of the RCC (Remote Center Compliance). The experimental results using two industrial robots will illustrate the validity of the proposed control system.

Original languageEnglish
Pages1042-1047
Number of pages6
Publication statusPublished - 1994 Dec 1
Externally publishedYes
EventProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger
Duration: 1994 Sep 121994 Sep 16

Other

OtherProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityMunich, Ger
Period94/9/1294/9/16

ASJC Scopus subject areas

  • Engineering(all)

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