Hybrid control for multiple robots in grasping and manipulation

Ryogo Kubo, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Citations (Scopus)

Abstract

This paper presents a grasping/manipulating control method using mode transformation. Discrete Fourier transform (DFT) matrices are utilized as transformation matrices. In grasping/manipulating control systems, decomposition into grasping motion and manipulating motion remains a key problem. By means of the proposed method, the grasping controller and the manipulating controller can be designed independently as a grasping mode and a manipulating mode, respectively. The grasping mode indicates internal force control and the manipulating mode indicates position control of COG (center of gravity). Hence, hybrid position/force control is achieved in grasping and manipulating an object using multiple robots. The validity of the proposed method is shown by the numerical and experimental results.

Original languageEnglish
Title of host publicationEPE-PEMC 2006
Subtitle of host publication12th International Power Electronics and Motion Control Conference, Proceedings
Pages367-372
Number of pages6
DOIs
Publication statusPublished - 2007
EventEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference - Portoroz, Slovenia
Duration: 2006 Aug 302006 Sep 1

Publication series

NameEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings

Other

OtherEPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference
CountrySlovenia
CityPortoroz
Period06/8/3006/9/1

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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