Cartesian Space Synchronous Impedance Control of Two 7-DOF robot arm manipulators | IEEE Conference Publication | IEEE Xplore

Cartesian Space Synchronous Impedance Control of Two 7-DOF robot arm manipulators


Abstract:

In the paper, a new method named Cartesian Space Synchronous Impedance Control (CSSIC) has been developed. The method combines the synchronous control and the impedance c...Show More

Abstract:

In the paper, a new method named Cartesian Space Synchronous Impedance Control (CSSIC) has been developed. The method combines the synchronous control and the impedance control together which can not only be used in the position control but can also realize the purpose of force control of the system with multi-manipulators. Therefore, if there are multi-manipulators grasping the same object, it can ensure the object will not fall and not be destroyed. The mathematical validation process and the stability proof of the method have been given. Besides, an experiment setup which has two 7-DOF robot arms has been established to testify the method. The testing result shows that the dual arm system, under disturbance, can ensure stable grasping of the object with the CSSIC method.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
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Conference Location: Chicago, IL, USA

References

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