By Topic

Coordinated motion control of robot arms based on the virtual internal model

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

4 Author(s)
Koga, M. ; Dept. of Control Eng., Tokyo Inst. of Technol., Japan ; Kosuge, K. ; Furuta, K. ; Nosaki, K.

An alternative coordinated motion control architecture for robot arms manipulating an object is proposed. The motion and the internal force of the object are resolved in the motion of each arm. Each arm's control is based on the virtual internal model so as to operate in coordination even if geometric errors exist in the robot arms and the object. The virtual internal model is a reference model driven by sensory information implemented in the controller. The proposed architecture keeps the state of the system bounded even if breakage of the manipulated object occurs. The control algorithm is experimentally applied to the coordinated motion control of two planar robot arms, each of which has three degrees of freedom. The results illustrate the validity of the proposed control architecture

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:8 ,  Issue: 1 )