학술논문
Towards robust hybrid control for two-arm robots
Document Type
Conference
Author
Source
Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91 Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on. :331-336 vol.1 1991
Subject
Language
Abstract
In order to perform complex coordinated tasks with a two-arm robot, some kind of robust hybrid position/force control is necessary. As a first step towards such a control scheme, the authors present mainly the results they have obtained in simulation with a single-arm robot. They have developed a simulator which allows one to test various control algorithms. In particular, they have tested a variable structure system for the hybrid control of a Puma robot. Several experimental results are presented in this case. Controlled variables for a two-arm system are also proposed.ETX