Title :
A control strategy for task planning of coordinating robots
Author :
Shirkhodaie, Amir
Author_Institution :
Dept. of Mech., Ind. & Nucl. Eng., Cincinnati Univ., OH, USA
Abstract :
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
Keywords :
compensation; dynamics; kinematics; position control; redundancy; robots; Cartesian space control; coordinated motion paths; coordinating robots; dynamic redundancy compensator; end-effectors; kinematic; task planning; Equations; Force control; Manipulator dynamics; Motion control; Orbital robotics; Position control; Robot kinematics; Strategic planning; Torque control; Transforms;
Conference_Titel :
Control Applications, 1992., First IEEE Conference on
Conference_Location :
Dayton, OH
Print_ISBN :
0-7803-0047-5
DOI :
10.1109/CCA.1992.269883
