Unified control for dynamic cooperative manipulation

Kazuhiro Kosuge, Hidehiro Yoshida, Toshio Fukuda, Masaru Sakai, Kiyoshi Kanitani, Kazuo Hariki

研究成果: Paper査読

11 被引用数 (Scopus)

抄録

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.

本文言語English
ページ1042-1047
ページ数6
出版ステータスPublished - 1994 12月 1
外部発表はい
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 121994 9月 16

Other

OtherProceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityMunich, Ger
Period94/9/1294/9/16

ASJC Scopus subject areas

  • 工学(全般)

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