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Conference Paper: Decentralized coordinated motion control of manipulators with vision and force sensors

TitleDecentralized coordinated motion control of manipulators with vision and force sensors
Authors
Issue Date1995
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 1995, v. 3, p. 2456-2462 How to Cite?
AbstractWe propose a coordinated motion control algorithm of manipulators, by which each manipulator is controlled by its own controller in a decentralized way. In this paper, we consider both manipulation of a single object and assembly of two parts by two arms in coordination. When two arms are manipulating a single object, a follower estimates the desired motion of a leader based on the information from its own force sensor and executes the task in coordination with the leader. An assembly task is described by a motion of a part manipulated by the leader and the relative motion between two parts given to the follower. The relative motion is observed and controlled by a vision sensor attached to the follower and the assembly task is executed independently of the motion of the leader. Experimental results illustrate the proposed system.
Persistent Identifierhttp://hdl.handle.net/10722/302648
ISSN
2023 SCImago Journal Rankings: 1.620

 

DC FieldValueLanguage
dc.contributor.authorKosuge, Kazuhiro-
dc.contributor.authorTaguchi, Daiji-
dc.contributor.authorFukuda, Toshio-
dc.contributor.authorSakai, Masaru-
dc.contributor.authorKanitani, Kiyoshi-
dc.date.accessioned2021-09-07T08:42:19Z-
dc.date.available2021-09-07T08:42:19Z-
dc.date.issued1995-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 1995, v. 3, p. 2456-2462-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/302648-
dc.description.abstractWe propose a coordinated motion control algorithm of manipulators, by which each manipulator is controlled by its own controller in a decentralized way. In this paper, we consider both manipulation of a single object and assembly of two parts by two arms in coordination. When two arms are manipulating a single object, a follower estimates the desired motion of a leader based on the information from its own force sensor and executes the task in coordination with the leader. An assembly task is described by a motion of a part manipulated by the leader and the relative motion between two parts given to the follower. The relative motion is observed and controlled by a vision sensor attached to the follower and the assembly task is executed independently of the motion of the leader. Experimental results illustrate the proposed system.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.titleDecentralized coordinated motion control of manipulators with vision and force sensors-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBOT.1995.525628-
dc.identifier.scopuseid_2-s2.0-0029188907-
dc.identifier.volume3-
dc.identifier.spage2456-
dc.identifier.epage2462-

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