COMPLIANCE CONTROL AND UNSTRUCTURED MODELING OF COOPERATING ROBOTS.

H. Kazerooni; T. I. Tsay

COMPLIANCE CONTROL AND UNSTRUCTURED MODELING OF COOPERATING ROBOTS.

H. Kazerooni, T. I. Tsay

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Citations (Scopus)

Abstract

The control strategy of two cooperating robots is described. A two-fingered hand is an example of such a system. A control architecture is proposed that guarantees: (1) each robot end-point follows its position input command vector 'closely' when the robots are not in contact with each other, and (2) when the two robots come in contact with each other, one robot controls the position of the contact point, while the other controls the contact force. The controller does not need any hardware or software switch for the transition between unconstrained and constrained maneuvering of each robot.

Original language	English
Title of host publication	Unknown Host Publication Title
Publisher	IEEE
Pages	510-515
Number of pages	6
ISBN (Print)	0818608528
Publication status	Published - 1988 Jan 1

All Science Journal Classification (ASJC) codes

General Engineering

Cite this

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abstract = "The control strategy of two cooperating robots is described. A two-fingered hand is an example of such a system. A control architecture is proposed that guarantees: (1) each robot end-point follows its position input command vector 'closely' when the robots are not in contact with each other, and (2) when the two robots come in contact with each other, one robot controls the position of the contact point, while the other controls the contact force. The controller does not need any hardware or software switch for the transition between unconstrained and constrained maneuvering of each robot.",

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N2 - The control strategy of two cooperating robots is described. A two-fingered hand is an example of such a system. A control architecture is proposed that guarantees: (1) each robot end-point follows its position input command vector 'closely' when the robots are not in contact with each other, and (2) when the two robots come in contact with each other, one robot controls the position of the contact point, while the other controls the contact force. The controller does not need any hardware or software switch for the transition between unconstrained and constrained maneuvering of each robot.

AB - The control strategy of two cooperating robots is described. A two-fingered hand is an example of such a system. A control architecture is proposed that guarantees: (1) each robot end-point follows its position input command vector 'closely' when the robots are not in contact with each other, and (2) when the two robots come in contact with each other, one robot controls the position of the contact point, while the other controls the contact force. The controller does not need any hardware or software switch for the transition between unconstrained and constrained maneuvering of each robot.

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ER -

COMPLIANCE CONTROL AND UNSTRUCTURED MODELING OF COOPERATING ROBOTS.

Abstract

All Science Journal Classification (ASJC) codes

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