{"title":"利用分散鲁棒位置/力控制实现协同操作","authors":"T. Mukaiyama, K. Kim, Y. Hori","doi":"10.1109/AMC.1996.509304","DOIUrl":null,"url":null,"abstract":"This paper proposes a control scheme which realizes cooperative motion to handle a target object by using two robot manipulators. The first robot, which is used as the leader, has only the robust position controller. The second robot, which is used as the follower, has the position based force controller. Based on this very simple strategy, we can easily realize intelligent cooperative manipulation by completely decentralized control. We demonstrate its control performance by experiments of moving an object back and forth, and discuss on future problems.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"12","resultStr":"{\"title\":\"Implementation of cooperative manipulation using decentralized robust position/force control\",\"authors\":\"T. Mukaiyama, K. Kim, Y. Hori\",\"doi\":\"10.1109/AMC.1996.509304\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper proposes a control scheme which realizes cooperative motion to handle a target object by using two robot manipulators. The first robot, which is used as the leader, has only the robust position controller. The second robot, which is used as the follower, has the position based force controller. Based on this very simple strategy, we can easily realize intelligent cooperative manipulation by completely decentralized control. We demonstrate its control performance by experiments of moving an object back and forth, and discuss on future problems.\",\"PeriodicalId\":360541,\"journal\":{\"name\":\"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1996-03-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"12\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/AMC.1996.509304\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AMC.1996.509304","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Implementation of cooperative manipulation using decentralized robust position/force control
This paper proposes a control scheme which realizes cooperative motion to handle a target object by using two robot manipulators. The first robot, which is used as the leader, has only the robust position controller. The second robot, which is used as the follower, has the position based force controller. Based on this very simple strategy, we can easily realize intelligent cooperative manipulation by completely decentralized control. We demonstrate its control performance by experiments of moving an object back and forth, and discuss on future problems.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
