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Resolved position control for two cooperating robot arms

Published online by Cambridge University Press:  09 March 2009

Joonhong Lim  and
Dong H. Chyung
Joonhong Lim
Affiliation:
Department of Electrical and Computer Engineering, University of Iowa, Iowa City, Iowa 52242, U.S.A.
Dong H. Chyung
Affiliation:
Department of Electrical and Computer Engineering, University of Iowa, Iowa City, Iowa 52242, U.S.A.
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Summary

The problem of controlling two cooperating robot arms is investigated. The task is to move an object from one place to another by grasping it at two different points using two robot arms. The path of the object is determined first in the Cartesian coordinate system, and the corresponding joint variable trajectory is evaluated from the object path for each robot. Each robot is then position controlled so that it follows its joint variable trajectory. The method was successfully applied to two RHINO robot system.

Type
Article
Information
Robotica , Volume 5 , Issue 1 , January 1987 , pp. 9 - 15
Copyright
Copyright © Cambridge University Press 1987

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