Unified control for dynamic cooperative manipulation

Kazuhiro Kosuge; Hidehiro Yoshida; Toshio Fukuda; Masaru Sakai; Kiyoshi Kanitani; Kazuo Hariki

doi:10.1016/b978-044482250-5/50034-7

Unified control for dynamic cooperative manipulation

Kazuhiro Kosuge
, Hidehiro Yoshida
, Toshio Fukuda
, Masaru Sakai
, Kiyoshi Kanitani
, Kazuo Hariki

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

13 Citations (Scopus)

Abstract

This paper proposes a unified coordinated motion control algorithm of manipulators, which is applicable to both manipulation of an object and a parts-mating task. First, we consider the manipulation of an object by impedance controlled manipulators; the impedance of each arm is designed so that the apparent impedance of the manipulated object is specified. Then we consider the parts-mating problem using the same control algorithm proposed for the manipulation of a single object. We propose a method to design the impedance of each arm so that the relative motion of two manipulators has the dynamics of the RCC (Remote Center Compliance). The experimental results using two industrial robots will illustrate the validity of the proposed control system.

Original language	English
Title of host publication	IEEE/RSJ/GI International Conference on Intelligent Robots and Systems
Publisher	IEEE
Pages	1042-1047
Volume	2
DOIs	https://doi.org/10.1016/b978-044482250-5/50034-7
Publication status	Published - 1994
Externally published	Yes
Event	Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger Duration: 12 Sept 1994 → 16 Sept 1994

Conference

Conference	Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3)
City	Munich, Ger
Period	12/09/94 → 16/09/94

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

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This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

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@inproceedings{04b5050c51e64f10812abf9ed65019c8,

title = "Unified control for dynamic cooperative manipulation",

abstract = "This paper proposes a unified coordinated motion control algorithm of manipulators, which is applicable to both manipulation of an object and a parts-mating task. First, we consider the manipulation of an object by impedance controlled manipulators; the impedance of each arm is designed so that the apparent impedance of the manipulated object is specified. Then we consider the parts-mating problem using the same control algorithm proposed for the manipulation of a single object. We propose a method to design the impedance of each arm so that the relative motion of two manipulators has the dynamics of the RCC (Remote Center Compliance). The experimental results using two industrial robots will illustrate the validity of the proposed control system.",

author = "Kazuhiro Kosuge and Hidehiro Yoshida and Toshio Fukuda and Masaru Sakai and Kiyoshi Kanitani and Kazuo Hariki",

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year = "1994",

doi = "10.1016/b978-044482250-5/50034-7",

language = "English",

volume = "2",

pages = "1042--1047",

booktitle = "IEEE/RSJ/GI International Conference on Intelligent Robots and Systems",

publisher = "IEEE",

address = "United States",

}

Kosuge, K, Yoshida, H, Fukuda, T, Sakai, M, Kanitani, K & Hariki, K 1994, Unified control for dynamic cooperative manipulation. in IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. vol. 2, IEEE, pp. 1042-1047, Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3), Munich, Ger, 12/09/94. https://doi.org/10.1016/b978-044482250-5/50034-7

Unified control for dynamic cooperative manipulation. / Kosuge, Kazuhiro; Yoshida, Hidehiro; Fukuda, Toshio et al.
IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Vol. 2 IEEE, 1994. p. 1042-1047.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Unified control for dynamic cooperative manipulation

AU - Kosuge, Kazuhiro

AU - Yoshida, Hidehiro

AU - Fukuda, Toshio

AU - Sakai, Masaru

AU - Kanitani, Kiyoshi

AU - Hariki, Kazuo

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 1994

Y1 - 1994

N2 - This paper proposes a unified coordinated motion control algorithm of manipulators, which is applicable to both manipulation of an object and a parts-mating task. First, we consider the manipulation of an object by impedance controlled manipulators; the impedance of each arm is designed so that the apparent impedance of the manipulated object is specified. Then we consider the parts-mating problem using the same control algorithm proposed for the manipulation of a single object. We propose a method to design the impedance of each arm so that the relative motion of two manipulators has the dynamics of the RCC (Remote Center Compliance). The experimental results using two industrial robots will illustrate the validity of the proposed control system.

AB - This paper proposes a unified coordinated motion control algorithm of manipulators, which is applicable to both manipulation of an object and a parts-mating task. First, we consider the manipulation of an object by impedance controlled manipulators; the impedance of each arm is designed so that the apparent impedance of the manipulated object is specified. Then we consider the parts-mating problem using the same control algorithm proposed for the manipulation of a single object. We propose a method to design the impedance of each arm so that the relative motion of two manipulators has the dynamics of the RCC (Remote Center Compliance). The experimental results using two industrial robots will illustrate the validity of the proposed control system.

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U2 - 10.1016/b978-044482250-5/50034-7

DO - 10.1016/b978-044482250-5/50034-7

M3 - RGC 32 - Refereed conference paper (with host publication)

VL - 2

SP - 1042

EP - 1047

BT - IEEE/RSJ/GI International Conference on Intelligent Robots and Systems

PB - IEEE

T2 - Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3)

Y2 - 12 September 1994 through 16 September 1994

ER -

Unified control for dynamic cooperative manipulation

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