Robust holding control of two cooperating robot manipulators

Masaru Uchiyama, Toshiaki Yamashita

    研究成果: Conference contribution

    抄録

    The adaptive load sharing needed for two cooperating manipulators to hold a common object robustly is dealt with. The task vectors for describing the task are summarized, and a hybrid control scheme for the simultaneous control of the holding forces and the carrying positions is presented. Within this framework, the robust holding problem is analyzed, paying attention to the contact conditions between the manipulators and the object. The contact conditions are formulated as a set of linear inequalities with respect to the load sharing coefficients. Based on the analysis, a heuristic but very simple algorithm for the online adaptation of the load sharing coefficients for robust holding is presented.

    本文言語English
    ホスト出版物のタイトルProceedings of the American Control Conference
    出版社Publ by American Automatic Control Council
    ページ2521-2526
    ページ数6
    ISBN(印刷版)0879425652, 9780879425654
    DOI
    出版ステータスPublished - 1991
    イベントProceedings of the 1991 American Control Conference - Boston, MA, USA
    継続期間: 1991 6月 261991 6月 28

    出版物シリーズ

    名前Proceedings of the American Control Conference
    3
    ISSN(印刷版)0743-1619

    Other

    OtherProceedings of the 1991 American Control Conference
    CityBoston, MA, USA
    Period91/6/2691/6/28

    ASJC Scopus subject areas

    • 電子工学および電気工学

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