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Decentralized coordinated motion control of manipulators with vision and force sensors

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5 Author(s)
Kosuge, K. ; Dept. of Mech. Eng., Tohoku Univ., Sendai, Japan ; Taguchi, D. ; Fukuda, T. ; Sakai, M.
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We propose a coordinated motion control algorithm of manipulators by which each manipulator is controlled by its own controller in a decentralized way. In this paper, we consider both the manipulation of a single object and assembly of two parts by two arms in coordination. When two arms are manipulating a single object, a follower estimates the desired motion of a leader based on the information from its own force sensor and executes the task in coordination with the leader. An assembly task is described by a motion of a part manipulated by the leader and the relative motion between two parts given to the follower. The relative motion is observed and controlled by a vision sensor attached to the follower and the assembly task is executed independently of the motion of the leader. Experimental results illustrate the proposed system

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:3 )

Date of Conference:

21-27 May 1995