Abstract
In order to perform complex coordinated tasks with a two-arm robot, we have designed and implemented a robust hybrid position/force control scheme. Previous papers have been dedicated to precise presentation of the method: the main goal of this paper is to present the practical point of view. Of course, we first recall the description of our original control scheme applied to a two-arm robot manipulating a single object: this control scheme has been defined after series of tests which have involved many different control schemes. We discuss also the reason why we have chosen a DSP-based controller to implement such a scheme, we show the ways the control software and the operator-robot interface are implemented on this single-processor architecture. Finally, experimental results are presented which prove both the robustness of the control strategies and the efficiency of a DSP-based hardware for advanced robot control.
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References
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dSPACE GmbH, TRACE & COCKPIT, 33098 Paderborn, Germany.
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© 1995 Springer Fachmedien Wiesbaden
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Fraisse, P., Pierrot, F., Dauchez, P. (1995). Robust Control of a Two-arm Robot: An efficient implementation in a DSP-based controller. In: Lückel, J. (eds) Proceedings of the Third Conference on Mechatronics and Robotics. Vieweg+Teubner Verlag, Wiesbaden. https://doi.org/10.1007/978-3-322-91170-4_12
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DOI: https://doi.org/10.1007/978-3-322-91170-4_12
Publisher Name: Vieweg+Teubner Verlag, Wiesbaden
Print ISBN: 978-3-519-02625-9
Online ISBN: 978-3-322-91170-4
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