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Hybrid Control for Multiple Robots in Grasping and Manipulation

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2 Author(s)
Ryogo Kubo ; Department of System Design Engineering, Keio University, Yokohama, Japan ; Kouhei Ohnishi

This paper presents a grasping/manipulating control method using mode transformation. Discrete Fourier transform (DFT) matrices are utilized as transformation matrices. In grasping/manipulating control systems, decomposition into grasping motion and manipulating motion remains a key problem. By means of the proposed method, the grasping controller and the manipulating controller can be designed independently as a grasping mode and a manipulating mode, respectively. The grasping mode indicates internal force control and the manipulating mode indicates position control of COG (center of gravity). Hence, hybrid position/force control is achieved in grasping and manipulating an object using multiple robots. The validity of the proposed method is shown by the numerical and experimental results

Published in:

Power Electronics and Motion Control Conference, 2006. EPE-PEMC 2006. 12th International

Date of Conference:

Aug. 30 2006-Sept. 1 2006