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

Cooperative control between two position-controlled 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
$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

2 Author(s)
Osumi, H. ; Dept. of Precision Machinery Eng., Tokyo Univ., Japan ; Arai, T.

This paper proposes a simple method for handling a single object by cooperation of two manipulators controlled by PID position controllers. Flexibility is essential to avoid excessive inner forces caused by the mutual positioning error between two manipulators. First, the way to design these flexible mechanisms is shown. Second, the closed loop structure consisting of two manipulators and the installed flexible mechanisms is kinematically analyzed. As an example, a cooperative system between a 6-DOF robot and a conventional crane is designed and an inverse kinematics algorithm is proposed. The method proposed here is also very effective for cooperation in distributed autonomous robotic systems

Published in:

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

Date of Conference:

8-13 May 1994

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.