NDLI: External force control using cooperating two arms with general kinematic structures

Content Provider	IEEE Xplore Digital Library
Author	Yeo, H.J. Lee, S.J. Suh, I.H. Yi, B.J. Oh, S.-R.
Copyright Year	1996
Description	Author affiliation: Dept. of Electron. Eng., Hanyang Univ., Ansan, South Korea (Yeo, H.J.)
Abstract	An unified compliant control algorithm to regulate the force by dual arms is proposed, where two arms are treated as one arm in a kinematic viewpoint. The force error calculated from the information of two force/torque sensors attached to the end of each arm is transferred to minimum actuator coordinates, and then distributed it to total system actuator coordinates. The position adjustment at the total actuator coordinates is computed based on the effective compliance matrix with respect to the total actuator coordinates, which is obtained by coordinate transformation between the task coordinates and the total actuator coordinates. An experiment is carried out for dual arms with asymmetric kinematic structure to control an interaction force between manipulators and the environment. The performances of the proposed control algorithm are experimentally compared to that of dual arms employing a master/slave scheme. The proposed compliant control algorithm not only outperforms other algorithms, but also can be treated as an unified approach in the sense that it can be applied to arbitrary dual arm systems with general kinematic structures.
Starting Page	388
Ending Page	394
File Size	926726
Page Count	7
File Format	PDF
ISBN	0780332539
DOI	10.1109/ROMAN.1996.568868
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-11-11
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force control Arm Robot kinematics Actuators Communication system control Manipulators Service robots Force measurement Robot control Force sensors
Content Type	Text
Resource Type	Article

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