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Coordinated Motion Planning and Optimal Force Distribution for Robots with Multiple Cooperating Arms

Bruhm, Hartmut (2023)
Coordinated Motion Planning and Optimal Force Distribution for Robots with Multiple Cooperating Arms.
In: IFAC Proceedings Volumes, 1985, 18 (16)
doi: 10.26083/tuprints-00023397
Article, Secondary publication, Publisher's Version

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Item Type: Article
Type of entry: Secondary publication
Title: Coordinated Motion Planning and Optimal Force Distribution for Robots with Multiple Cooperating Arms
Language: English
Date: 2023
Place of Publication: Darmstadt
Year of primary publication: 1985
Publisher: IFAC - International Federation of Automatic Control
Journal or Publication Title: IFAC Proceedings Volumes
Volume of the journal: 18
Issue Number: 16
DOI: 10.26083/tuprints-00023397
Corresponding Links:
Origin: Secondary publication service
Abstract:

This paper is concerned with the problems of inter-arm coordination which arise when multiple robot arms attach their end effectors to a single payload in order to perform a manipulation task. The approach taken is to let the arms cooperate with equal rights, and to exploit the redundancy present in the system for the minimization of a quadratic cost criterion. The main elements of the proposed control system are generators for coordinated nominal motions and force/torque interactions with the payload, and an active compliance scheme capable of resolving kinematic conflicts and inconsistencies between motion and force/torque commands. The paper gives a detailed mathematical description of both the motion and the force/torque generators. The proposed active compliance scheme is presented in summary form.

Uncontrolled Keywords: Robots, cooperating robot arms, force distribution, active compliance, hierarchical systems, process control, mathematical analysis
Status: Publisher's Version
URN: urn:nbn:de:tuda-tuprints-233970
Additional Information:

Zugl. Konferenzveröffentlichung: 1st IFAC Symposium on Robot Control (SYROCO '85), 06.-08.11.1985, Barcelona, Spain

Classification DDC: 600 Technology, medicine, applied sciences > 620 Engineering and machine engineering
Divisions: 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Intelligent Systems
Date Deposited: 28 Apr 2023 08:24
Last Modified: 06 Jul 2023 11:42
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/23397
PPN: 509303641
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