Title :
A geometric control algebra for cooperative manipulation
Author_Institution :
North Florida Univ., Jacksonville, FL
fDate :
June 28 2004-July 1 2004
Abstract :
A geometric control algebra, represented using hybrid twist and wrench screw theory, is provided and described for cooperating manipulators to model dual-arm robotic operations. In addition to the system model of the manipulators, cooperative dual-arm robotic operations are incorporated using hybrid twist and wrench screw theory into the geometric control algebra. Single-object and two-object operations are based on hybrid twist and wrench screw theory thereby providing the fundamental relationships for freedom of motion and constraint for the dual-arm robotic operations
Keywords :
algebra; cooperative systems; force control; geometry; manipulators; motion control; torque control; cooperative manipulators; dual arm robotic operation model; geometric control algebra; hybrid twist and wrench screw theory; single object operation; twist motion freedom; two object operation; wrench constraints; Algebra; Constraint theory; Control systems; End effectors; Fasteners; Manipulators; Motion control; Payloads; Robots; Solid modeling;
Conference_Titel :
Automation Congress, 2004. Proceedings. World
Conference_Location :
Seville
Print_ISBN :
1-889335-21-5
