A symmetric hybrid position/force control scheme for the coordination of two robots

A symmetric scheme-not a master/slave scheme-is proposed for the coordination of two robots to manipulate a single object jointly. The definition of workspace force, velocity, and position vectors as symmetric functions of the joint space force, velocity and position vectors of the two robots is ess...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Uchiyama, M., Dauchez, P.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Arm Force control Force sensors Impedance Manipulators Master-slave Oceans Orbital robotics Precision engineering Robot kinematics
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