Dynamics and Control of Multi-Arms Coordination
This paper studied dynamics and hybrid position/force control of coordinated multi-arms,which grasp a common rigid object tightly in the presence of environment constraints.First,after the analysis of load distributing,a definition of external/internal force and corresponding external/internal motion for multi-arms coordination was elaborated,and a group of generalized motion and force vectors were then proposed for task description.Further,based on the kinetic equations of the object and manipulators,an object-oriented kinematics and dynamics model for the case of multi-arms rigid coordination was derived.The model and the single manipulator’s kinematics and dynamics equations in Cartesian remained the same form,which was meaningful for motion and force control of multi-arms cooperation.Then,by considering this uniformity,a hybrid control of object motion,internal force and contact force method was studied,and several experiments were presented.
multi-Arms coordination external/internal force external/internal motion dynamics hybrid position/force control.
Chen Guodong Jia Peifa
The State Key Laboratory of Intelligent Technology and Systems,Department of Computer Science and Te The State Key Laboratory of Intelligent Technology and Systems,Department of Computer Science and Te
国际会议
International Conference on Modelling,Identification and Control(模拟、鉴定、控制国际会议)
上海
英文
2008-06-29（万方平台首次上网日期，不代表论文的发表时间）