Title :
Coordination of two planar robots in lifting
Author :
Laroussi, Kader ; Hemami, Hooshang ; Goddard, Ralph E.
Author_Institution :
Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
Abstract :
The dynamic equations for a two-robot system with and without load are formulated. For control purposes, the constraint forces are derived as functions of input and state. The inverse plant method and computation of the constraint forces are used to coordinate the control of the system. No pressure or force sensors are considered, and no force feedback is used. The effectiveness of the control strategy for point-to-point motion of the coordinated robots performing a lifting task is checked by digital computer simulations.<>
Keywords :
control system analysis; dynamics; force control; position control; robots; constraint forces; control strategy; coordinated robots; dynamic equations; inverse plant method; lifting task; planar robots; point-to-point motion; two-robot system; Computational geometry; Computer simulation; Contacts; Control systems; Force control; Force feedback; Predictive models; Robot control; Robot kinematics; Robot sensing systems;
Journal_Title :
Robotics and Automation, IEEE Journal of
