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Adaptive load-sharing force control for two-arm manipulators

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1 Author(s)
M. E. Pittelkau ; Center for Manuf. Res. & Technol. Utilization, Tennessee Technol. Univ., Cookeville, TN, USA

Three problems associated with the two-arm load sharing force controller are considered. These are (1) load sharing; (2) control of interactive forces and torques; and (3) the application of desired forces and torques to the object while maintaining accurate position control. These objectives are achieved by minimizing an interactive force/torque error vector. The computation of this vector requires a wrist force/torque sensor on each manipulator. The adaptive load-sharing controller developed optimizes the distribution of joint torques over both manipulators to increase the efficiency and combined load-carrying capacity of the two manipulators. Simulation results are provided

Published in:

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Date of Conference:

24-29 Apr 1988