Title :
Task modeling and force control for a two-arm robot
Author :
Dauchez, Pierre ; Delebarre, Xavier ; Bouffard, Yann ; Dégoulange, Eric
Author_Institution :
LAMM, Montpellier II Univ., France
Abstract :
The authors present solutions for manipulating objects with two robotic arms, when force control is necessary. The applications of interest are the transport and assembly of rigid objects, the deformation, transport, and assembly of flexible objects, and the assembly in space of two objects, each being held by one arm. The authors present a theoretical solution for modeling the tasks and practical solutions implemented for controlling two six-axis arms
Keywords :
aerospace control; assembling; control system analysis; force control; materials handling; robots; aerospace control; flexible object assembly; force control; rigid object assembly; six-axis arms; task modelling; two-arm robot; Arm; Clouds; Force control; Force sensors; IEEE members; Oceans; Orbital robotics; Robotic assembly; Robots; Velocity control;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131865
