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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