A technique is presented for controlling multiple manipulators which are holding a single object and therefore form a closed kinematic chain. The object, which may or may not be in contact with a rigid environment, is assumed to be held rigidly by n robot end-effectors. The derivation is based on setting up constraint equations which reduce the 6 x n degrees of freedom of n manipulators each having six joints. Additional constraint equations are considered when one or more degrees of freedom of the object are reduced due to external constraints. Utilizing the operational space dynamic equations, a decoupling controller is designed to control both the position and the interaction forces of the object with the environment. Simulation results for the control of a pair of two-link manipulators are presented.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Position and force control of coordinated multiple arms


    Beteiligte:


    Erscheinungsdatum :

    01.09.1988



    Medientyp :

    Sonstige


    Format :

    Keine Angabe


    Sprache :

    Englisch


    Schlagwörter :



    Force Sensorless Adaptive Coordinated Control of Multiple Robot Arms

    Kawasaki, H. / Ueki, S. / Ito, S. | British Library Online Contents | 2003



    Position/force control in multiple-manipulator systems

    WEN, JOHN / MURPHY, STEVE | AIAA | 1992