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Task modeling and force control for a two-arm robot

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4 Author(s)
Dauchez, P. ; LAMM, Montpellier II Univ., France ; Delebarre, X. ; Bouffard, Yann ; Degoulange, E.

The authors present solutions for manipulating objects with two robotic arms, when force control is necessary. The applications of interest are the transport and assembly of rigid objects, the deformation, transport, and assembly of flexible objects, and the assembly in space of two objects, each being held by one arm. The authors present a theoretical solution for modeling the tasks and practical solutions implemented for controlling two six-axis arms

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991