Title :
Motion Control of Multiple Arms
Author_Institution :
Department of Electrical Engineering, Florida Atlantic University, Boca Raton, Florida 33431
Abstract :
A multidimensional iterative model for the control analysis of two cooperating robots is proposed. The manipulation of a rigid object with elastic restraint between the object and the end effectors using the proposed model is investigated. The scheme is based on an iterative structure which utilizes available data from the previous operation for a specified trajectory and applied forces to the object. It is shown that the convergence of the actual trajectory to the desired one is guaranteed upon proper selction of a weighted control matrix.
Keywords :
Arm; Computer aided manufacturing; Control systems; End effectors; Equations; Force control; Jacobian matrices; Manipulators; Motion control; Robot kinematics;
Conference_Titel :
American Control Conference, 1991
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-87942-565-2
