By Topic

A control strategy for task planning of coordinating 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

1 Author(s)
Shirkhodaie, A. ; Dept. of Mech., Ind. & Nucl. Eng., Cincinnati Univ., OH, USA

A control strategy with a dynamic redundancy compensator is presented for Cartesian space control of coordinating multiple robots manipulating a common object. The proposed control scheme embeds dynamics of the individual coordinating robot arms and dynamically is capable to compensate for the kinematic/dynamic redundancies while preserving optimum forces/torques distribution between the end-effectors of robot arms. The results of the study were demonstrated on the control of two robot arms manipulating a common object through prescribed coordinated motion paths

Published in:

Control Applications, 1992., First IEEE Conference on

Date of Conference:

13-16 Sep 1992