Title :
Control of multiple robotic arms engaged in cooperative manipulation and assembly operations
Author :
Tricamo, S.J. ; Swern, F.L.
Author_Institution :
Dept. of Mech. Eng., Stevens Inst. of Technol., Hoboken, NJ, USA
Abstract :
An approach to the control of robots engaged in cooperative manipulation and assembly operations is presented. The techniques uses transducers to measure constraint reactions created in the resulting closed-chain multirobot configuration by relative trajectory errors between manipulators. A structural analysis formulation is then utilized to determine the magnitude of these errors, followed by active control compensation to eliminate them. The effectiveness of the approach is demonstrated by computer simulation
Keywords :
assembling; computerised control; digital simulation; robots; active control compensation; assembly operations; closed-chain multirobot configuration; computer simulation; constraint reactions; cooperative manipulation; multiple robotic arms; relative trajectory errors; structural analysis formulation; transducers; Actuators; Arm; Force measurement; Grippers; Manipulators; Robot control; Robot kinematics; Robotic assembly; Robotics and automation; Transducers;
Conference_Titel :
Computer Integrated Manufacturing, 1988., International Conference on
Conference_Location :
Troy, NY
Print_ISBN :
0-8186-0888-9
DOI :
10.1109/CIM.1988.5420
