By Topic

Manipulation of multiple objects by two manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Aiyama, Y. ; Dept. of Precision Machinery Eng., Tokyo Univ., Japan ; Minami, M. ; Arai, T.

This paper focuses on the manipulation of multiple objects, for example, to rake up many objects on a table, lift them up and put them in order, which is difficult to perform for a single manipulator system. This kind of operation becomes possible or much more effective by the cooperation of two manipulators. The lifting up operation of multiple objects by putting them between the two end-effectors is discussed. The use of visual or touch-sensory feedback for the operation, as humans do, cannot prevent the loss of balance for the manipulator system. For the purpose of safe operation, the kinematic analysis and a method of predetermining the pushing force are proposed. The experimental results indicate the effectiveness of the proposed method using simulations with various estimated errors

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:4 )

Date of Conference:

16-20 May 1998