An experimental set-up for cooperative manipulation based on industrial manipulators

Describes the experience of setting up a cooperative arm system based on individual open-architecture controllers. Two six-degree-of-freedom industrial manipulators, one of which is mounted on a moving track, are installed to realize a cooperative experimental set-up. The main issues related to the cooperative manipulation are overviewed and its potential applications in industry are discussed. A brief description of the system's components is given. The most relevant problems encountered in setting up the cooperative system based on individual control architectures are detailed. The result of the experience is that by using available industrial manipulators. rather than prototypes, and without re-designing the controller hardware, it is possible to realize a cooperative manipulator system.