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    This article has been cited by the following publications. This list is generated based on data provided by CrossRef.
    Hemami, A. and Cheng, R.M.H. 1992. A Preliminary Step for Path Tracking of Coordinated Robot Arms Based on Kinematics. The International Journal of Robotics Research, Vol. 11, Issue. 3, p. 185.
    Huang, Han-Pang and Chen, Ruey-Sheng 1992. Modeling and adaptive coordination control of a two-Robot system. Journal of Robotic Systems, Vol. 9, Issue. 1, p. 65.
    Hemami, Ahmad Cheng, R.M.H and Ranjbaran, Farzam 1991. Path verification for coordinated motion of two arms. Robotics and Autonomous Systems, Vol. 7, Issue. 4, p. 291.
    Hemami, A. Ranjbaran, F. and Cheng, R. M. H. 1991. A case study of two-robot-arm workcell material handling. Journal of Robotic Systems, Vol. 8, Issue. 1, p. 21.
    GARG, DEVENDRA P. and YOUNG, REED F. 1990. Coordinated control of cooperating robotic manipulators. International Journal of Systems Science, Vol. 21, Issue. 11, p. 2161.
    Ying, Z.-Y. Xi, Y.-G. and Zhang, Z.-H. 1989. Test of the reachability of a robot to an object. p. 490.
    1989. A high precision memmior the coordinated control of mmti nubur "mb. p. 177.
    Lim, Joonhong and Chyung, Dong H. 1988. Admissible trajectory determination for two cooperating robot arms. Robotica, Vol. 6, Issue. 02, p. 107.
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Resolved position control for two cooperating robot arms

  • Joonhong Lim (a1) and Dong H. Chyung (a1)
Summary

The problem of controlling two cooperating robot arms is investigated. The task is to move an object from one place to another by grasping it at two different points using two robot arms. The path of the object is determined first in the Cartesian coordinate system, and the corresponding joint variable trajectory is evaluated from the object path for each robot. Each robot is then position controlled so that it follows its joint variable trajectory. The method was successfully applied to two RHINO robot system.

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COPYRIGHT: © Cambridge University Press 1987
References
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Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
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