HYBRID POSITION/FORCE CONTROL FOR COORDINATION OF A TWO-ARM ROBOT.

Masaru Uchiyama, Naotoshi Iwasawa, Kyojiro Hakomori

    研究成果: Conference contribution

    80 被引用数 (Scopus)

    抄録

    The authors discuss the control of cooperating tasks being done by by two robotic arms. In order to control those tasks, they extend a hybrid position/force control scheme for a single-arm robot. The point of the extension is the formulation of kinematics and statics for a two arm robot. The authors define a unique system of workspace coordinates, and, corresponding to the unique workspace, introduce an unique jointspace vector consisting of joint vectors of the two arms. Using these work and joint spaces, the authors formulate the kinematics and statics, and successfully apply the hybrid scheme to the two-arm robot. A demonstration of the theory on a real two-arm industrial robot and experimental data of simultaneous control of position and force proves the effectiveness of the extended method.

    本文言語English
    ホスト出版物のタイトルUnknown Host Publication Title
    出版社IEEE
    ページ1242-1247
    ページ数6
    ISBN(印刷版)0818607874
    出版ステータスPublished - 1987

    ASJC Scopus subject areas

    • 工学(全般)

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