By Topic

Experimental study of two robot arms manipulating large objects

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

2 Author(s)
E. Paljug ; Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA ; Xiaoping Yun

In this paper, we present the architecture of an experimental real-time control system called TRACS (two robotic arm coordination system) and experimental results using two PUMA 250 robot arms that perform tasks of manipulating large objects. The system uses an IBM PC-AT as the host computer which is equipped with an AMD29000 high speed floating point coprocessor. It is configured in such a way that the Intel 80286 processor performs all the input-output interface operations (interface to the sensors, arms, and user) while the AMD29000 carries out the real-time computations of feedback control algorithms. Using the system, we have successfully implemented the dynamic control algorithm developed for coordinating two robotic arms. The two arms perform the task of manipulating a large object by means of enveloping grasp. The coordinated control algorithm utilizes the full dynamics of the two arms. The results from two experimental tasks are described in detail, in which the two arms move an object while adapting the grasp configuration to the motion trajectory and to the external disturbance force

Published in:

IEEE Transactions on Control Systems Technology  (Volume:3 ,  Issue: 2 )