Force-information based control of robots handling an object

Kazuhiro Kosuge, Tomohiro Oosumi

研究成果: Paper査読

抄録

We propose an algorithm to control robots handling an object in coordination based on force-information. One of the robots is referred to as a leader, and the desired motion of the object is commanded to the leader. The other robots referred to as followers estimate the motion of the leader by themselves through the motion of the object and handle the object based on the estimated reference. The proposed control algorithm guarantees the stability of the resultant system, different from the conventional leader-follower type of robot control algorithms. The proposed control algorithm also specifies the internal force applied to the object, while handling the object in coordination based on robot dynamics. The experimental results using one degree of freedom mobile robot illustrate the validity of the proposed control algorithm.

本文言語English
ページ210-214
ページ数5
出版ステータスPublished - 1996 12月 1
イベントProceedings of the 1996 IEEE Conference on Emerging Technologies and Factory Automation, ETFA'96. Part 2 (of 2) - Kauai, HI, USA
継続期間: 1996 11月 181996 11月 21

Other

OtherProceedings of the 1996 IEEE Conference on Emerging Technologies and Factory Automation, ETFA'96. Part 2 (of 2)
CityKauai, HI, USA
Period96/11/1896/11/21

ASJC Scopus subject areas

  • 工学(全般)

フィンガープリント

「Force-information based control of robots handling an object」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル