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Force control of a multi-arm robot system

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2 Author(s)
Alberts, T.E. ; Old Dominion Univ., Norfolk, VA, USA ; Soloway, D.I.

Kinematic resolved-rate control is extended to the coordinated control of multiple robot arms cooperatively manipulating a single object. To provide the capability to control the forces applied to the jointly manipulated body and to the external environment, a force feedback loop is closed around the system. This results in a multiarm realization of the damping control method. The problem of redundancy in determining the distribution of loads among the manipulators is handled by minimizing a quadratic cost function in task-space force and torque. A coordinate system structure is described that permits manipulator control relative to a control reference frame which may be independent of the base coordinate systems of the respective manipulators and of the world reference system

Published in:

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

Date of Conference:

24-29 Apr 1988