Cart (Loading....) | Create Account
Close category search window
 

A framework for implementing cooperative motion on industrial controllers

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
$31 $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

4 Author(s)
Braun, B.M. ; Aerosp. Corp., Albuquerque, NM, USA ; Starr, G. ; Wood, J.E. ; Lumia, R.

The use of two or more robots jointly manipulating a common object, termed cooperative control, has many advantages in industrial applications. Much of the previous work on cooperative control, however, has emphasized capabilities, such as joint torque control, not generally present on industrial robots. This paper applies the concept of cooperative control to industrial robots by taking advantage of those capabilities that do exist on industrial robots. Specifically, a design approach that makes use of tool-based coordinate systems, trajectory generation, real-time modification, and distributed control of multiple robots is presented. These concepts are implemented on a system of two industrial robots using an adaptive fuzzy controller, and the results are discussed.

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:20 ,  Issue: 3 )

Date of Publication:

June 2004

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.