Internal force control for cooperating manipulators in consideration for parameters of a grasped object

Osamu Yumita, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to conferencePaper

Abstract

This paper describes an internal force control for cooperating manipulators under consideration of parameters of a grasped object. In the proposed approach, first, the parameters of the grasped object are estimated by using the internal force that is computed from the detected force at each end-effector. Then we also introduce the impedance control and the position command is determined based on the parameters of the grasped object. This makes it possible to realize the position control of the grasped object and the internal force control independently of the unknown parameters of the object. This is one of the remarkable points of our approach. Several numerical results are also shown to confirm the validity of the proposed controller.

Original languageEnglish
Pages895-900
Number of pages6
Publication statusPublished - 1997 Dec 1
EventProceedings of the 1997 IEEE International Symposium on Industrial Electronics, ISIE. Part 3 (of 3) - Guimaraes, Portugal
Duration: 1997 Jul 71997 Jul 11

Other

OtherProceedings of the 1997 IEEE International Symposium on Industrial Electronics, ISIE. Part 3 (of 3)
CityGuimaraes, Portugal
Period97/7/797/7/11

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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    Yumita, O., Murakami, T., & Ohnishi, K. (1997). Internal force control for cooperating manipulators in consideration for parameters of a grasped object. 895-900. Paper presented at Proceedings of the 1997 IEEE International Symposium on Industrial Electronics, ISIE. Part 3 (of 3), Guimaraes, Portugal, .