Multiple arm robot with force control and inter-arm position acc

Details Multiple arm robot with force control and inter-arm position acc Multiple arm robot with force control and inter-arm position acc

1989-05-01

1990-11-27

MacDonald, Allen

Boots, shoes, and leggings

364163, 364165, 901 9, 901 15, 901 45, 901 34, G06F 1546

Patent

active

049742108

ABSTRACT:
A robot manipulator uses multiple robot arms to grasp and move an object. The object is moved by the coordinated motion of the arms. Because of inaccuracies in the coordinated motion of the arms due to mechanical inaccuracies or to imperfections in the model used by the controller to evaluate the interaction of the arms with the environment, the actual motion of the arms may be slightly uncoordinated. This may result in the application of unwanted forces to the object which may distort or break the object, the arms, or both. A multiarm accommodation arrangement evaluates the forces applied by the arms to the object to determine the net forces, and generates position accommodation signals which are summed with the several mutually coordinated arm control signals to tend to cause the forces applied to the object to be zero or a desired finite value. In a particular embodiment of the invention, an outer loop provides position accommodation to control forces applied by the object to an external load.

REFERENCES:
patent: 4761595 (1988-08-01), Goor
patent: 4761596 (1988-08-01), Nio et al.
patent: 4763276 (1988-08-01), Perreirra et al.
patent: 4826392 (1989-05-01), Hayati
patent: 4860215 (1989-08-01), Seriji
Coordinated Adaptive Position/Force Control of Dual-Arm Robots; International Journal of Robotics and Automation; pp. 140-149; vol. 3, No. 3, 1988; H. Seraji.
Adaptive Control Strategies for Cooperative Dual-Arm Manipulators; H. Seraji; Journal of Robotic Systems, 4 (5), 653-684 (1987).
"Experiments in Force Control of Robotic Manipulators", by Maples et al., pp. 695-702 of the Proceeding of the 1986 IEEE International Conference on Robotics and Automation.
"Hybrid Position/Force Control of Manipulators" by Railbert et al., pp. 419-438 of the text Robot Motion: Planning and Control, edited by Brady et al., published by MIT press, 1982.
"Multi-Arm Coordination and Force Control Using Position Accommodation"; by J. S. Lee, pp. 1937-1945 of the Proceedings of the Nineteenth Annual Pittsburgh Conference, May 1988, Modeling & Simulation, vol. 19, Part 5; Control, Robotics.

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