Access the full text.
Sign up today, get DeepDyve free for 14 days.
Loading next page...
/lp/emerald-publishing/an-experimental-set-up-for-cooperative-manipulation-based-on-DWr5S3YQDe
References (27)
-
O. Khatib (1995)
Inertial Properties in Robotic Manipulation: An Object-Level FrameworkThe International Journal of Robotics Research, 14
-
10.1109/70.143355
-
F Dogliani, G Magnani, L Sciavicco
An open architecture industrial controller -
F. Caccavale, P. Chiacchio, S. Chiaverini (2000)
Task-space regulation of cooperative manipulatorsAutom., 36
-
M. Uchiyama, P. Dauchez (1992)
Symmetric kinematic formulation and non-master/slave coordinated control of two-arm robotsAdv. Robotics, 7
-
E. Nakano (1974)
Cooperational Control of the Anthropomorphous Manipulator "MELARM" -
P. Chiacchio, S. Chiaverini, L. Sciavicco, B. Siciliano (1991)
Global task space manipulability ellipsoids for multiple-arm systemsIEEE Trans. Robotics Autom., 7
-
T. Tarn, A. Bejczy, X. Yun (1987)
Design of dynamic control of two cooperating robot arms: Closed chain formulationProceedings. 1987 IEEE International Conference on Robotics and Automation, 4
-
P. Hsu (1993)
Coordinated control of multiple manipulator systemsIEEE Trans. Robotics Autom., 9
-
10.1109/70.481752
-
P. Chiacchio, S. Chiaverini, B. Siciliano (1996)
Direct and Inverse Kinematics for Coordinated Motion Tasks of a Two-Manipulator SystemJournal of Dynamic Systems Measurement and Control-transactions of The Asme, 118
-
Yan-Ru Hu, A. Goldenberg, Chin Zhou (1995)
Motion and Force Control of Coordinated Robots During Constrained Motion TasksThe International Journal of Robotics Research, 14
-
F. Caccavale, P. Chiacchio, S. Chiaverini (1996)
Stability analysis of a joint space control law for a two-manipulator systemProceedings of 35th IEEE Conference on Decision and Control, 3
-
J.Y.S Luh, Y.F Zheng
Constrained relations between two coordinated industrial robots -
J. Luh, Y.F. Zheng (1987)
Constrained Relations between Two Coordinated Industrial Robots for Motion ControlThe International Journal of Robotics Research, 6
-
F. Caccavale, J. Szewczyk
Experimental results of operational space control on a dual‐arm robot system -
Stanley Schneider, R. Cannon (1989)
Object impedance control for cooperative manipulation: theory and experimental resultsProceedings, 1989 International Conference on Robotics and Automation
-
F. Caccavale, P. Chiacchio (1994)
Identification of dynamic parameters and feedforward control for a conventional industrial manipulatorControl Engineering Practice, 2
-
R. Bonitz, T. Hsia (1997)
Calibrating a multi-manipulator robotic systemIEEE Robotics Autom. Mag., 4
-
F. Caccavale, P. Chiacchio, S. Chiaverini, B. Siciliano (1997)
Experiments of Kinematic Control on a Two-Robot System -
10.1109/9.739077
-
J. Wen, K. Kreutz-Delgado (1992)
Motion and force control of multiple robotic manipulatorsAutom., 28
-
C. Wen, D. Hill (1992)
Global boundedness of discrete-time adaptive control just using estimator projectionAutom., 28
-
R. Bonitz, T. Hsia (1993)
Internal force-based impedance control for cooperating manipulators[1993] Proceedings IEEE International Conference on Robotics and Automation
-
F. Caccavale, P. Chiacchio, S. Chiaverini (1998)
A quaternion-based regulator for cooperative manipulatorsProceedings of the 1998 IEEE International Conference on Control Applications (Cat. No.98CH36104), 1
-
T. Ishida (1977)
Force Control in Coordination of Two Arms -
T. Tarn, A. Bejczy, X. Yun (1988)
New nonlinear control algorithms for multiple robot armsIEEE Transactions on Aerospace and Electronic Systems, 24
- Publisher
- Emerald Publishing
- Copyright
- Copyright © 2000 MCB UP Ltd. All rights reserved.
- ISSN
- 0143-991X
- DOI
- 10.1108/01439910010315445
- Publisher site
- See Article on Publisher Site
Abstract
Describes the experience of setting up a cooperative arm system based on individual open-architecture controllers. Two six-degree-of-freedom industrial manipulators, one of which is mounted on a moving track, are installed to realize a cooperative experimental set-up. The main issues related to the cooperative manipulation are overviewed and its potential applications in industry are discussed. A brief description of the system's components is given. The most relevant problems encountered in setting up the cooperative system based on individual control architectures are detailed. The result of the experience is that by using available industrial manipulators, rather than prototypes, and without re-designing the controller hardware, it is possible to realize a cooperative manipulator system.
Journal
Industrial Robot: An International Journal – Emerald Publishing
Published: Apr 1, 2000
Keywords: Manipulators; Control