Hostname: page-component-cd9895bd7-gxg78 Total loading time: 0 Render date: 2024-12-23T23:59:08.506Z Has data issue: false hasContentIssue false
  • English
  • Français

Resolved position control for two cooperating robot arms

Published online by Cambridge University Press:  09 March 2009

Joonhong Lim  and
Dong H. Chyung
Joonhong Lim
Affiliation:
Department of Electrical and Computer Engineering, University of Iowa, Iowa City, Iowa 52242, U.S.A.
Dong H. Chyung
Affiliation:
Department of Electrical and Computer Engineering, University of Iowa, Iowa City, Iowa 52242, U.S.A.
Get access Rights & Permissions [Opens in a new window]

Summary

The problem of controlling two cooperating robot arms is investigated. The task is to move an object from one place to another by grasping it at two different points using two robot arms. The path of the object is determined first in the Cartesian coordinate system, and the corresponding joint variable trajectory is evaluated from the object path for each robot. Each robot is then position controlled so that it follows its joint variable trajectory. The method was successfully applied to two RHINO robot system.

Type
Article
Information
Robotica , Volume 5 , Issue 1 , January 1987 , pp. 9 - 15
Copyright
Copyright © Cambridge University Press 1987

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Ishida, T., “Force control in coordination of two arms” Proc. of 5th Int'l Joint Conf. on Arti. Intel.717–722 (1977).Google Scholar
2.Luh, J.Y.S., “An anatomy of industrial robots and their controls” IEEE Trans. Autom. Contr. AC-28, No. 2, 133–153 (02, 1983).CrossRefGoogle Scholar
3.Alford, C.O. and Belyeu, S.M., “Coordinated control of two robot arms” Proc. of IEEE 1984 Int'l Conf. on Robotics468–473 (1984).Google Scholar
4.Won, S.C. and Chyung, D. H., “Tracking controller design for a robotic manipulator” Proc. of IFAC Conference on Control Science and Technology 2, Beijing,China892–899 (08, 1985).Google Scholar
5.Won, S.C., Lim, D.J., and Chyung, D.H., “D-C motor driven robotic manipulator control” 24th Conference on Decision and Control 1, 330–333 (12, 1985).CrossRefGoogle Scholar
6.Paul, R.P., Robot Manipulators: Mathematics Programming and Control (MIT Press, Cambridge, Mass., 1981).Google Scholar
7.Pieper, D.L., “The kinematics of manipulators under computer control” Ph.D. Thesis, Department of Computer Science, Stanford University (1968).Google Scholar
8.Paul, R.P., Shimano, B. and Mayer, G.E., “Kinematic control equations for simple manipulators” IEEE Trans. Syst., Man, Cybern. SMC-11, No. 6, 449–455 (06, 1981).Google Scholar
9.Lee, C.S.G. and Ziegler, M., “A geometric approach in solving the inverse kinematics of PUMA robots” Proc. of the 13th Int'l Symp. on Int. Robots 16/1–16/18 (1983).Google Scholar
10.Colson, J.C. and Perreira, N.D., “Kinematic arrangements used in industrial robots” Proc. of the 13th Int'l Symp. on Ind. Robots 20/1–20/18 (1983).Google Scholar