Abstract
Experiments have been presented to verify the asymmetric hybrid control scheme presented by Uchiyama for the coordination of a dual arm robot to hold a single object. The control scheme implements both hybrid control of forces and positions and load sharing between the two arms. An industrial dual arm robot with four degrees-of-freedom for each arm is used in the experiment. An adaptive load sharing algorithm is obtained experimentally and is integrated with the asymmetric control scheme. The experiment shows that, using the adaptive load sharing function, the dual arm robot can hold the object robustly to the disturbance on the object even when relatively soft holding forces are commanded. Tasks such as to slide an object held by the arms, pressing on another object, are achieved successfully.
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© 1990 Springer-Verlag
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Uchiyama, M., Yamashita, T. (1990). Asymmetric hybrid control of positions and forces of a dual arm robot to share loads. In: Hayward, V., Khatib, O. (eds) Experimental Robotics I. Lecture Notes in Control and Information Sciences, vol 139. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0042515
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DOI: https://doi.org/10.1007/BFb0042515
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