Three schemes are developed which are aimed at achieving cooperative control of multiple arm systems manipulating a common object. The first scheme operates wholly on the object task space variables. The second scheme operates on the joint space variables that can be derived via a kinematic inversion from the cooperative task space variables. The third scheme combines the features of the two by solving the cooperation at the inverse kinematic level and acting the control at the object level. Simulation results are provided for a two-arm planar system to investigate the behavior of the controlled system in the case of inaccurate object modeling.

Cooperative control schemes for multiple robot manipulator systems

CHIACCHIO, Pasquale;
1992-01-01

Abstract

Three schemes are developed which are aimed at achieving cooperative control of multiple arm systems manipulating a common object. The first scheme operates wholly on the object task space variables. The second scheme operates on the joint space variables that can be derived via a kinematic inversion from the cooperative task space variables. The third scheme combines the features of the two by solving the cooperation at the inverse kinematic level and acting the control at the object level. Simulation results are provided for a two-arm planar system to investigate the behavior of the controlled system in the case of inaccurate object modeling.
1992
0818627204
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11386/3248480
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 9
  • ???jsp.display-item.citation.isi??? 6
social impact