Title :
An extension of passive velocity field control to cooperative multiple manipulator systems
Author :
Yamakita, M. ; Suzuki, K. ; Zheng, X.Z. ; Katayama, M. ; Ito, K.
Author_Institution :
Tokyo Inst. of Technol., Japan
Abstract :
Traditionally, tasks for a manipulator are specified by a desired timed trajectory. There, however, are many tasks in which the desired motions are specified by the state of system rather than time, such as contour following tasks. For such tasks, passive velocity field control (PVFC) has been proposed and the geometry of the controlled systems was analyzed. In this paper, a method to extend the PVFC to cooperative multiple manipulators is proposed, and the effectiveness of the control method is demonstrated by numerical simulations, and some properties are shown
Keywords :
cooperative systems; manipulators; PVFC; contour following tasks; cooperative multiple manipulator systems; passive velocity field control; timed trajectory; Control system analysis; Control systems; Force control; Geometry; Humans; Iron; Manipulator dynamics; Mechanical systems; Motion control; Velocity control;
Conference_Titel :
Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on
Conference_Location :
Grenoble
Print_ISBN :
0-7803-4119-8
DOI :
10.1109/IROS.1997.648974
