Coordination of two planar robots in lifting

Coordination of two planar robots in lifting

The dynamic equations for a two-robot system with and without load are formulated. For control purposes, the constraint forces are derived as functions of input and state. The inverse plant method and computation of the constraint forces are used to coordinate the control of the system. No pressure...

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Veröffentlicht in:IEEE journal of robotics and automation 1988-02, Vol.4 (1), p.77-85
Hauptverfasser: Laroussi, K., Hemami, H., Goddard, R.E.
Format: Artikel
Sprache:eng
Schlagworte:
Applied sciences
Computational geometry
Computer simulation
Contacts
Control systems
Exact sciences and technology
Force control
Force feedback
Material handling, hoisting. Storage. Packaging
Predictive models
Robot control
Robot kinematics
Robot sensing systems
Transfert equipment, manipulators
industrial robots
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Beschreibung
Zusammenfassung:The dynamic equations for a two-robot system with and without load are formulated. For control purposes, the constraint forces are derived as functions of input and state. The inverse plant method and computation of the constraint forces are used to coordinate the control of the system. No pressure or force sensors are considered, and no force feedback is used. The effectiveness of the control strategy for point-to-point motion of the coordinated robots performing a lifting task is checked by digital computer simulations.< >
ISSN:0882-4967
2374-8710
DOI:10.1109/56.774