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- Publisher Website: 10.1109/IROS.1994.407477
- Scopus: eid_2-s2.0-0028740996
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Conference Paper: Unified control for dynamic cooperative manipulation
| Title | Unified control for dynamic cooperative manipulation |
|---|---|
| Authors | |
| Issue Date | 1994 |
| Citation | IEEE/RSJ/GI International Conference on Intelligent Robots and Systems, 1994, v. 2, p. 1042-1047 How to Cite? |
| Abstract | 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. |
| Persistent Identifier | http://hdl.handle.net/10722/302635 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.contributor.author | Yoshida, Hidehiro | - |
| dc.contributor.author | Fukuda, Toshio | - |
| dc.contributor.author | Sakai, Masaru | - |
| dc.contributor.author | Kanitani, Kiyoshi | - |
| dc.contributor.author | Hariki, Kazuo | - |
| dc.date.accessioned | 2021-09-07T08:42:17Z | - |
| dc.date.available | 2021-09-07T08:42:17Z | - |
| dc.date.issued | 1994 | - |
| dc.identifier.citation | IEEE/RSJ/GI International Conference on Intelligent Robots and Systems, 1994, v. 2, p. 1042-1047 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302635 | - |
| dc.description.abstract | 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. | - |
| dc.language | eng | - |
| dc.relation.ispartof | IEEE/RSJ/GI International Conference on Intelligent Robots and Systems | - |
| dc.title | Unified control for dynamic cooperative manipulation | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/IROS.1994.407477 | - |
| dc.identifier.scopus | eid_2-s2.0-0028740996 | - |
| dc.identifier.volume | 2 | - |
| dc.identifier.spage | 1042 | - |
| dc.identifier.epage | 1047 | - |