DocumentCode
436089
Title
A geometric control algebra for cooperative manipulation
Author
Cox, Daniel J.
Author_Institution
North Florida Univ., Jacksonville, FL
Volume
15
fYear
2004
fDate
June 28 2004-July 1 2004
Firstpage
259
Lastpage
264
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Automation Congress, 2004. Proceedings. World
Conference_Location
Seville
Print_ISBN
1-889335-21-5
Type
conf
Filename
1438562
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