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AUTOMATICA
2006

Decentralized adaptive coordinated control of multiple robot arms without using a force sensor

10 years 1 months ago
Decentralized adaptive coordinated control of multiple robot arms without using a force sensor
This paper presents a distributed adaptive coordinated control method for multiple robot arms grasping a common object. The cases of rigid contact and rolling contact are analyzed. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model. The control method requires only the measurements of the positions and velocities of the object and robot arms, but not the measurements of forces and moments at contact points. The asymptotic convergence of trajectory is proven by the Lyapunov-Like Lemma. Experiments involving two robot arms handling a common object are shown.
Haruhisa Kawasaki, Satoshi Ueki, Satoshi Ito
Added 10 Dec 2010
Updated 10 Dec 2010
Type Journal
Year 2006
Where AUTOMATICA
Authors Haruhisa Kawasaki, Satoshi Ueki, Satoshi Ito
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