Asymmetric hybrid control of positions and forces of a dual arm robot to share loads

  • Masaru Uchiyama
  • Toshiaki Yamashita
Section 1: Control Cooperating Robots
First Online:
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 139)

Abstract

Experiments have been presented to verify the asymmetric hybrid control scheme presented by Uchiyama for the coordination of a dual arm robot to hold a single object. The control scheme implements both hybrid control of forces and positions and load sharing between the two arms. An industrial dual arm robot with four degrees-of-freedom for each arm is used in the experiment. An adaptive load sharing algorithm is obtained experimentally and is integrated with the asymmetric control scheme. The experiment shows that, using the adaptive load sharing function, the dual arm robot can hold the object robustly to the disturbance on the object even when relatively soft holding forces are commanded. Tasks such as to slide an object held by the arms, pressing on another object, are achieved successfully.

Keywords

Force Control Load Sharing Internal Position Symmetric Scheme Triangular Block 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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Copyright information

© Springer-Verlag 1990

Authors and Affiliations

  • Masaru Uchiyama
    • 1
  • Toshiaki Yamashita
    • 1
  1. 1.Department of Precision EngineeringTohoku UniversitySendaiJapan

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