An approach to controlling multi-arm robotic manipulation of a single body

When more than one robot arm is used to manipulate an object, internal forces (i.e. forces of constraint) may be developed in the object. This effect is due to many factors, including manipulator position and trajectory errors. An approach is presented that reduces these constraint forces using forc...

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Bibliographic Details
Main Authors: Swern, F.L., Tricamo, S.J.
Format: Conference Proceeding
Language:English
Subjects:
Arm
Force control
Force sensors
Gravity
Manipulators
Orbital robotics
Robot control
Robot kinematics
Robot sensing systems
Transducers
Online Access:Request full text
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Description
Summary:When more than one robot arm is used to manipulate an object, internal forces (i.e. forces of constraint) may be developed in the object. This effect is due to many factors, including manipulator position and trajectory errors. An approach is presented that reduces these constraint forces using force/torque sensor data. A control algorithm is developed that eliminates the constraint forces by supplying a position correction to each arm.< >
DOI:10.1109/ROBOT.1988.12104