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 language | English |
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Pages | 104-109 |
Number of pages | 6 |
State | Published - 1995 |
Event | Proceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2) - Orlando, FL, USA Duration: Nov 6 1995 → Nov 10 1995 |
Conference
Conference | Proceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2) |
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City | Orlando, FL, USA |
Period | 11/6/95 → 11/10/95 |
Scopus Subject Areas
- Control and Systems Engineering
- Electrical and Electronic Engineering