Approach to the control of multirobot manipulation

S. J. Tricamo, F. L. Swern, R. Y. Lin

Research output: Contribution to conferencePaperpeer-review

1 Scopus citations

Abstract

An approach to the trajectory control of robots engaged in the cooperative manipulation of a single object is presented. The technique uses sensors to measure the constraint reactions created in the multirobot configuration by relative trajectory errors between manipulators. These trajectory errors are evaluated using structural analysis techniques and corrected by active control compensation. The effectiveness of the approach is demonstrated by computer simulation.

Original languageAmerican English
Pages543-548
Number of pages6
StatePublished - 1988
Externally publishedYes
EventTrends and Developments in Mechanisms, Machines, and Robotics - 1988 - Kissimmee, FL, USA
Duration: Sep 25 1988Sep 28 1988

Conference

ConferenceTrends and Developments in Mechanisms, Machines, and Robotics - 1988
CityKissimmee, FL, USA
Period9/25/889/28/88

ASJC Scopus subject areas

  • General Engineering

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