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.
|出版ステータス||Published - 1994 12月 1|
|イベント||Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger|
継続期間: 1994 9月 12 → 1994 9月 16
|Other||Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3)|
|Period||94/9/12 → 94/9/16|
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