Cooperative manipulation experiments using a dual-arm robot

Daniel J. Cox, Kevin Rackers, Delbert Tesar

Research output: Contribution to conferencePaperpeer-review

3 Scopus citations

Abstract

Cooperating manipulators in dual-arm robots generally have more actuator resources than freedom of motion, or an excess of actuator inputs. Redundancy in the drivability provides opportunity for resource allocation. Decision-making criteria are used to make effective use of dual-arm robotic system resources, as well as to enhance performance. System equations of a dual-arm robot performing cooperative operations are provided. Selected operations are described in terms of example application, decision-making criteria, and description of experimental procedures used to investigate control for cooperative manipulation. Included in the dual-arm robotic system test-bed are the fixtures for experiments and a fully anthropomorphic, dual-arm robot.

Original languageEnglish
Pages104-109
Number of pages6
StatePublished - 1995
EventProceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2) - Orlando, FL, USA
Duration: Nov 6 1995Nov 10 1995

Conference

ConferenceProceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2)
CityOrlando, FL, USA
Period11/6/9511/10/95

Scopus Subject Areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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