Experiment with two industrial robot manipulators rigidly holding an egg

Author

Zhu, Wenl-Hong ; De Schutter, Joris

Author_Institution

Dept. of Mech. Eng., Katholieke Univ., Leuven, Belgium

Volume

2

fYear

1998

Firstpage

1534

Abstract

An experiment with two industrial robots KUKA 361/KUKA 160 holding an egg with two hard points contact without using any flexibility is reported in this paper. This experiment illustrates the force control result based on the framework of general constrained robots. Decentralized full-model parameter adaptation is performed by using virtual decomposition. This experiment indicates that the robots are able to perform very delicate operations with the aid of advanced control algorithms and force feedback. It also highlights the potential applications to human-centred robotics

Keywords

adaptive control; cooperative systems; feedback; force control; industrial manipulators; manipulator kinematics; motion control; stability; KUKA 160; KUKA 361; adaptive control; feedback; force control; hard points contact; industrial manipulators; motion control; stability; Actuators; Equations; Force control; Joining processes; Lagrangian functions; Manipulators; Matrix decomposition; Robot kinematics; Service robots; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.677339

Filename

677339