Multi-point compliance control of dual-Arm robots

A. Jazidie, T. Tsuji, K. Ito

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

One of the basic characteristics of the dual-Arm robots which manipulate a common object is the redundancy of joint degrees of freedom The present paper proposes a compliance control method utilizing kinematic redundancy of the dual-Arm robot. The method presented here can regulate the compliance or stiffness of several points on the dual armrobot as well as the object compliance through regulation of the joint stiffness.

Original languageEnglish
Title of host publicationIROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationSensor-Based Robotics and Opportunties for its Industrial Applications
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages65-70
Number of pages6
ISBN (Electronic)0780307372
DOIs
Publication statusPublished - 1992
Externally publishedYes
Event1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 - Raleigh, United States
Duration: 7 Jul 199210 Jul 1992

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume1
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992
Country/TerritoryUnited States
CityRaleigh
Period7/07/9210/07/92

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