Title :
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
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;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677339
