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Hand-over of unstable object between multiple manipulators

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2 Author(s)
Hoshino, T. ; Dept. of Manage. & Syst. Eng., Sci. Univ. of Tokyo, Japan ; Furuta, K.

Deals with the coordinated controller design for a certain kind of cooperative manipulation of an unstable object with multiple robotic manipulators. Based on the system description in the framework of differential-algebraic equations (DAEs), control problems of the object manipulation with single and two manipulators are formulated. By characterizing a hand-over operation as a result of the simultaneous solution to the both problems, a reliable-controller design technique is applied to derive the controllers. Thus formulating the hand-over control problem as a reliable control problem derives a class of the object which can be handed over at least by using the proposed control scheme and a constructive design method of the controllers. The experimental results are included.

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Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

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