A framework for implementing cooperative motion on industrial controllers

被引：19
作者：
Braun, BM [1 ]
Starr, GP
Wood, JE
Lumia, R
机构：
[1] Aerosp Corp, Albuquerque, NM 87107 USA
[2] Univ New Mexico, Dept Mech Engn, Albuquerque, NM 87131 USA
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2004年 / 20卷 / 03期
关键词：
compliant control; cooperative control; industrial robots;
D O I：
10.1109/TRA.2004.824941
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The use of two or more robots jointly manipulating a common object, termed cooperative control, has many advantages in industrial applications. Much of the previous work on cooperative control, however, has emphasized capabilities, such as joint torque control, not generally present on industrial robots. This paper applies the concept of cooperative control to industrial robots by taking advantage of those capabilities that do exist on industrial robots. Specifically, a design approach that makes use of tool-based coordinate systems, trajectory generation, real-time modification, and distributed control of multiple robots is presented. These concepts are implemented on a system of two industrial robots using an adaptive fuzzy controller, and the results are discussed.
引用
收藏
页码：583 / 589
页数：7
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