DocumentCode
1815771
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
Volume
1
fYear
1997
fDate
7-11 Sep 1997
Firstpage
11
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.1997.648974
Filename
648974
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