TY - GEN
T1 - Hybrid control for multiple robots in grasping and manipulation
AU - Kubo, Ryogo
AU - Ohnishi, Kouhei
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=42549127034&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=42549127034&partnerID=8YFLogxK
U2 - 10.1109/EPEPEMC.2006.283187
DO - 10.1109/EPEPEMC.2006.283187
M3 - Conference contribution
AN - SCOPUS:42549127034
SN - 1424401216
SN - 9781424401215
T3 - EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference, Proceedings
SP - 367
EP - 372
BT - EPE-PEMC 2006
T2 - EPE-PEMC 2006: 12th International Power Electronics and Motion Control Conference
Y2 - 30 August 2006 through 1 September 2006
ER -