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

Frederic L. Swern; Stephen J. Tricamo

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

Research output: Contribution to conference › Paper › peer-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 language	English (US)
State	Published - 1988
Externally published	Yes
Event	AIAA Space Programs and Technologies Conference, 1988 - Houston, United States Duration: Jun 21 1988 → Jun 24 1988

Other

Other	AIAA Space Programs and Technologies Conference, 1988
Country/Territory	United States
City	Houston
Period	6/21/88 → 6/24/88

All Science Journal Classification (ASJC) codes

Space and Planetary Science
Aerospace Engineering

Cite this

@conference{bebc53f98c9f4ac9a1749bee98a316ab,

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

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.",

author = "Swern, {Frederic L.} and Tricamo, {Stephen J.}",

note = "Publisher Copyright: {\textcopyright} 1998 by the American Institute of Aeronautics and Astronautips, Inc. All rights reserved.; AIAA Space Programs and Technologies Conference, 1988 ; Conference date: 21-06-1988 Through 24-06-1988",

year = "1988",

language = "English (US)",

}

TY - CONF

T1 - Experimental results in the implementation of control algorithms for the two-arm robotic manipulation of a single object

AU - Swern, Frederic L.

AU - Tricamo, Stephen J.

PY - 1988

Y1 - 1988

N2 - 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.

AB - 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.

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UR - http://www.scopus.com/inward/citedby.url?scp=84991289586&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:84991289586

T2 - AIAA Space Programs and Technologies Conference, 1988

Y2 - 21 June 1988 through 24 June 1988

ER -

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

Abstract

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All Science Journal Classification (ASJC) codes

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