多机械臂协同操作与装配的控制

[Proceedings] 1988 International Conference on Computer Integrated Manufacturing Pub Date : 1988-05-23 DOI:10.1109/CIM.1988.5420

S. Tricamo, F. Swern

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引用次数: 1

摘要

提出了一种协作操作和装配机器人的控制方法。该技术使用换能器通过机械手之间的相对轨迹误差来测量在闭合链多机器人构型中产生的约束反应。然后利用结构分析公式来确定这些误差的大小，然后通过主动控制补偿来消除它们。计算机仿真验证了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Control of multiple robotic arms engaged in cooperative manipulation and assembly operations

An approach to the control of robots engaged in cooperative manipulation and assembly operations is presented. The techniques 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.<>

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[Proceedings] 1988 International Conference on Computer Integrated Manufacturing

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