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Conference Paper: Versatile experimental system for dual-arm planning and control

TitleVersatile experimental system for dual-arm planning and control
Authors
Issue Date1994
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 1994, n. pt 2, p. 1515-1520 How to Cite?
AbstractThis paper describes a distributed computing and control architecture for experiments in dual-arm sensor-based planning and control. The system comprises of two PUMA 560 robots with state-of-the-art joint-level motion controllers. These controllers have accurate joint position and velocity measurement, an accurate joint calibration system, and six-axis wrist force/torque sensors with optical fiber communication with the controller. A high-power Silicon Graphics workstation, through a shared memory interface with the joint-level controllers, provides a task-level command and control capability. A variety of control schemes can be easily implemented on this system. A servo rate of 1000 Hz, without interpolation, has been achieved for task-level servo schemes with force feedback. The experimental results presented here demonstrate the performance capabilities of the system.
Persistent Identifierhttp://hdl.handle.net/10722/212660
ISSN

 

DC FieldValueLanguage
dc.contributor.authorTarn, T. J.-
dc.contributor.authorXi, Ning-
dc.contributor.authorRamadorai, A. K.-
dc.contributor.authorBejczy, A. K.-
dc.date.accessioned2015-07-28T04:04:36Z-
dc.date.available2015-07-28T04:04:36Z-
dc.date.issued1994-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 1994, n. pt 2, p. 1515-1520-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/212660-
dc.description.abstractThis paper describes a distributed computing and control architecture for experiments in dual-arm sensor-based planning and control. The system comprises of two PUMA 560 robots with state-of-the-art joint-level motion controllers. These controllers have accurate joint position and velocity measurement, an accurate joint calibration system, and six-axis wrist force/torque sensors with optical fiber communication with the controller. A high-power Silicon Graphics workstation, through a shared memory interface with the joint-level controllers, provides a task-level command and control capability. A variety of control schemes can be easily implemented on this system. A servo rate of 1000 Hz, without interpolation, has been achieved for task-level servo schemes with force feedback. The experimental results presented here demonstrate the performance capabilities of the system.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.titleVersatile experimental system for dual-arm planning and control-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0028112772-
dc.identifier.issuept 2-
dc.identifier.spage1515-
dc.identifier.epage1520-

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