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Hybrid Control for Multiple Robots in Grasping and Manipulation
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| Author(s) |
Ryogo Kubo, Kouhei Ohnishi |
| Abstract |
This paper presents a grasping/manipulating
control method using mode transformation. Discrete Fourier
transform (DFT) matrices are utilized as transformation
matrices. In grasping/manipulating control systems, decomposition
into grasping motion and manipulating motion
remains a key problem. By means of the proposed method,
the grasping controller and the manipulating controller
can be designed independently as a grasping mode and
a manipulating mode, respectively. The grasping mode
indicates internal force control and the manipulating mode
indicates position control of COG (center of gravity). Hence,
hybrid position/force control is achieved in grasping and
manipulating an object using multiple robots. The validity
of the proposed method is shown by the numerical and
experimental results. |
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| Filename: | T5-508.pdf |
| Filesize: | 933.5 KB |
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| Type |
Members Only |
| Date |
Last modified 2007-03-13 by System |
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