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A versatile experimental system for dual-arm planning and control

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4 Author(s)
Tarn, T.J. ; Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA ; Ning Xi ; Ramadorai, A.K. ; Bejczy, A.K.

This paper describes a distributed computing and control architecture for experiments in dual-arm sensor-based planning and control. The system comprises of two PUMA 560 robots with state-of-the-art joint-level motion controllers. These controllers have accurate joint position and velocity measurement, an accurate joint calibration system, and six-axis wrist force/torque sensors with optical fiber communication with the controller. A high-power Silicon Graphics workstation, through a shared memory interface with the joint-level controllers, provides a task-level command and control capability. A variety of control schemes can be easily implemented on this system. A servo rate of 1000 Hz, without interpolation, has been achieved for task-level servo schemes with force feedback. The experimental results presented here demonstrate the performance capabilities of the system

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994

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