CONTROL OF MULTIPLE ROBOTIC ARMS ENGAGED IN COOPERATIVE MANIPULATION AND ASSEMBLY OPERATIONS.

S. J. Tricamo, F. L. Swern

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

An approach to the control of robots engaged in cooperative manipulation and assembly operations is presented. The technique uses transducers to measure constraint reactions created in the resulting closed-chain multirobot configuration by relative trajectory errors between manipulators. A structural analysis formulation is then utilized to determine the magnitude of these errors, followed by active control compensation to eliminate them. The effectiveness of the approach is demonstrated by computer simulation.

Original languageEnglish (US)
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages282-287
Number of pages6
ISBN (Print)0818608889
StatePublished - Jan 1 1988
Externally publishedYes

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All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Tricamo, S. J., & Swern, F. L. (1988). CONTROL OF MULTIPLE ROBOTIC ARMS ENGAGED IN COOPERATIVE MANIPULATION AND ASSEMBLY OPERATIONS. In Unknown Host Publication Title (pp. 282-287). IEEE.