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Force control of a multi-arm robot systemA force-compensated control method for multiple manipulators is presented that allows coordinated manipulation of a jointly grasped object. In this scheme, each arm independently carries out the motions required to realize the desired motion of a prescribed point on the manipulated object. The approach has been implemented and demonstrated on a laboratory system consisting of two industrial, computer-controller manipulators.
Document ID
19890024672
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Alberts, Thomas E.
(Old Dominion University Norfolk, VA, United States)
Soloway, Donald I.
(NASA Langley Research Center Hampton, VA, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1988
Subject Category
Cybernetics
Meeting Information
Meeting: 1988 IEEE International Conference on Robotics and Automation
Location: Philadelphia, PA
Country: United States
Start Date: April 24, 1988
End Date: April 29, 1988
Accession Number
89A12043
Funding Number(s)
CONTRACT_GRANT: NAS1-1799367
Distribution Limits
Public
Copyright
Other

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