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Object impedance control for cooperative manipulation - Theory and experimental resultsThis paper presents the dynamic control module of the Dynamic and Strategic Control of Cooperating Manipulators (DASCCOM) project at Stanford University's Aerospace Robotics Laboratory. First, the cooperative manipulation problem is analyzed from a systems perspective, and the desirable features of a control system for cooperative manipulation are discussed. Next, a control policy is developed that enforces a controlled impedance not of the individual arm endpoints, but of the manipulated object itself. A parallel implementation for a multiprocessor system is presented. The controller fully compensates for the system dynamics and directly controls the object internal forces. Most importantly, it presents a simple, powerful, intuitive interface to higher level strategic control modules. Experimental results from a dual two-link-arm robotic system are used to compare the object impedance controller with other strategies, both for free-motion slews and environmental contact.
Document ID
19920068516
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
External Source(s)
Authors
Schneider, Stanley A.
(NASA Ames Research Center Moffett Field, CA, United States)
Cannon, Robert H., Jr.
(Stanford University CA, United States)
Date Acquired
August 15, 2013
Publication Date
June 1, 1992
Publication Information
Publication: IEEE Transactions on Robotics and Automation
Volume: 8
Issue: 3 Ju
ISSN: 1042-296X
Subject Category
Cybernetics
Accession Number
92A51140
Funding Number(s)
CONTRACT_GRANT: NCC2-333
Distribution Limits
Public
Copyright
Other

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