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: 12th 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

Other

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

Fingerprint

Force control
Position control
Robots
Controllers
Discrete Fourier transforms
Gravitation
Decomposition
Control systems

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Kubo, R., & Ohnishi, K. (2007). Hybrid control for multiple robots in grasping and manipulation. In EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings (pp. 367-372). [4061732] https://doi.org/10.1109/EPEPEMC.2006.283187

Hybrid control for multiple robots in grasping and manipulation. / Kubo, Ryogo; Ohnishi, Kouhei.

EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings. 2007. p. 367-372 4061732.

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

Kubo, R & Ohnishi, K 2007, Hybrid control for multiple robots in grasping and manipulation. in EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings., 4061732, pp. 367-372, EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Portoroz, Slovenia, 06/8/30. https://doi.org/10.1109/EPEPEMC.2006.283187
Kubo R, Ohnishi K. Hybrid control for multiple robots in grasping and manipulation. In EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings. 2007. p. 367-372. 4061732 https://doi.org/10.1109/EPEPEMC.2006.283187
Kubo, Ryogo ; Ohnishi, Kouhei. / Hybrid control for multiple robots in grasping and manipulation. EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings. 2007. pp. 367-372
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