By Topic

Compliance control and unstructured modeling of cooperating robots

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)
Kazerooni, H. ; Dept. of Mech. Eng., Minnesota, Univ., Minneapolis, MN, USA ; Tsay, T.I.

The control strategy of two cooperating robots is described. A two-fingered hand is an example of such a system. A control architecture is proposed that guarantees: (1) each robot end-point follows its position input command vector `closely' when the robots are not in contact with each other, and (2) when the two robots come in contact with each other, one robot controls the position of the contact point, while the other controls the contact force. The controller does not need any hardware or software switch for the transition between unconstrained and constrained maneuvering of each robot

Published in:

Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on

Date of Conference:

24-29 Apr 1988