Experimental results in the implementation of control algorithms for the two-arm robotic manipulation of a single object

Frederic L. Swern, Stephen J. Tricamo

Research output: Contribution to conferencePaperpeer-review

Abstract

When two robot arms are used to manipulate an object, internal forces (i, e., forces of constraint) are developed in the object. This is due to many factors, including errors in robot calibration with respect to one another, slippage of the grippers, and trajectory errors. An approach is presented that reduces these constraint forces using force/torque sensor data. A control algorithm is given along with a description of the laboratory setup used to test this algorithm.

Original languageEnglish (US)
StatePublished - Jan 1 1988
Externally publishedYes
EventAIAA Space Programs and Technologies Conference, 1988 - Houston, United States
Duration: Jun 21 1988Jun 24 1988

Other

OtherAIAA Space Programs and Technologies Conference, 1988
Country/TerritoryUnited States
CityHouston
Period6/21/886/24/88

All Science Journal Classification (ASJC) codes

  • Space and Planetary Science
  • Aerospace Engineering

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