Generalized cooperative impedance control of dual-arm for assembly task

被引：0
|
作者：
Derragui, N [1 ]
Kadri, M [1 ]
Bouzouia, B [1 ]
机构：
[1] Div Prod & Robot, Ctr Dev Technol Avancees, Algiers, Algeria
来源：
PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3 | 2003年
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper we deal with the cooperative control of multi-robot manipulators. We present a coordinated control scheme for assembly task by using the generalized impedance method This control scheme allows, not only, the control of the relative position and the absolute position of both effectors but it also includes the possibility of commanding and controlling the contact force. Simulation results of generalized cooperative impedance control on three link dual-robots illustrate the validity of control scheme.
引用
收藏
页码：1196 / 1201
页数：6
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