NASA NTRS · 19890024672
Force control of a multi-arm robot system
Abstract
A 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.
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Alberts, Thomas E., Soloway, Donald I.. 1988-01-01. Force control of a multi-arm robot system. https://ntrs.nasa.gov/citations/19890024672
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