APPROACH TO CONTROLLING MULTI-ARM ROBOTIC MANIPULATION OF A SINGLE BODY.

Frederic L. Swern, Stephen J. Tricamo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages516-521
Number of pages6
ISBN (Print)0818608528
StatePublished - Jan 1 1988
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Fingerprint Dive into the research topics of 'APPROACH TO CONTROLLING MULTI-ARM ROBOTIC MANIPULATION OF A SINGLE BODY.'. Together they form a unique fingerprint.

Cite this