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A control strategy for task planning of coordinating robots

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1 Author(s)
A. Shirkhodaie ; Dept. of Mech., Ind. & Nucl. Eng., Cincinnati Univ., OH, USA

A control strategy with a dynamic redundancy compensator is presented for Cartesian space control of coordinating multiple robots manipulating a common object. The proposed control scheme embeds dynamics of the individual coordinating robot arms and dynamically is capable to compensate for the kinematic/dynamic redundancies while preserving optimum forces/torques distribution between the end-effectors of robot arms. The results of the study were demonstrated on the control of two robot arms manipulating a common object through prescribed coordinated motion paths

Published in:

Control Applications, 1992., First IEEE Conference on

Date of Conference:

13-16 Sep 1992