Coordinated motion control of robot arm based on virtual internal model

K. Kosuge, M. Koga, K. Furuta, K. Nosaki

研究成果: Paper

14 引用 (Scopus)

抜粋

The authors propose an alternative coordinated motion control architecture for robot arms manipulating an object. The motion and the internal force of the object are resolved into the motion of each arm. Each arm is controlled, on the basis of the virtual internal model, so that they operate in coordination even if geometric errors exist in the arms and the object. The virtual internal model is a reference model driven by sensory information implemented in the controller. The proposed architecture maintains the stability of the system even if breakage of the manipulated object occurs. The control algorithm was experimentally applied to the coordinated motion control of two planar robot arms, each of which has three degrees of freedom. The results illustrate the validity of the proposed control architecture.

元の言語English
ページ1097-1102
ページ数6
出版物ステータスPublished - 1989 12 1
外部発表Yes
イベントIEEE International Conference on Robotics and Automation - 1989 - Scottsdale, AZ, USA
継続期間: 1989 5 141989 5 19

Other

OtherIEEE International Conference on Robotics and Automation - 1989
Scottsdale, AZ, USA
期間89/5/1489/5/19

ASJC Scopus subject areas

  • Engineering(all)

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  • これを引用

    Kosuge, K., Koga, M., Furuta, K., & Nosaki, K. (1989). Coordinated motion control of robot arm based on virtual internal model. 1097-1102. 論文発表場所 IEEE International Conference on Robotics and Automation - 1989, Scottsdale, AZ, USA, .