Skip to main content
SpringerLink
Log in
Book cover

Experimental Robotics II pp 255–269Cite as

Force control of a two-arm robot manipulating a deformable object

  • Section 5: Manipulation Planning And Control
  • Conference paper
  • First Online:

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 190))

Abstract

A hybrid symmetric control scheme initially developed for the manipulation of rigid objects with two arms has been extended to the case of deformable objects. We briefly present this theoretical approach and give more details about the implemented control scheme. This implementation has been done on a multiprocessor architecture, which controls a robot composed of two Puma's 560. Experiments such as the manipulation of rigid objects with internal force control, or the assembly of two objects, with each being held by one arm have been carried out. However, this paper emphasizes the manipulation of deformable objects, i.e. their force controlled deformation and their transport while deformed. Several quantitative results are given, in the simple case of a one-dimensional spring.

This is a preview of subscription content, log in via an institution.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

6 References

  1. E. Nakano, S. Ozaki, T. Ishida, I. Kato, “Cooperational Control of the Antropomorphous Manipulator MELARM”, Proc. 4th ISIR, Tokyo, November 1974, pp. 251–260.

    Google Scholar 

  2. H. Bruhm, K. Neusser, “An Active Compliance Scheme for Robots with Cooperating Arms”, Proc. 3rd ICAR, Versailles, October 1987, pp. 469–480.

    Google Scholar 

  3. S. Hayati, K. Tso, T. Lee, “Generalized Master/Slave Coordination and Control for a Dual Arm Robotic System”, Proc. 2nd Int. Symp. on Robotics and Manufacturing, Albuquerque, November 1988, pp. 421–430.

    Google Scholar 

  4. X. Yun, “Nonlinear Feedback Control of Two Manipulators in Presence of Environmental Constraints”, Proc. IEEE Int. Conf. on Robotics and Automation, Scottsdale, May 1989, pp. 1252–1257.

    Google Scholar 

  5. M. Uchiyama, P. Dauchez, “A Symmetric Hybrid Position/Force Control Scheme for the Coordination of Two Robots”, Proc. IEEE Int. Conf. on Robotics and Automation, Philadelphia, April 1988, pp. 350–356.

    Google Scholar 

  6. M.H. Raibert, J.J. Craig, “Hybrid Position/Force Control of Manipulators”, Trans. ASME, Journal of Dynamic Systems, Measurement, and Control, Vol. 103, N° 2, 1981, pp. 126–133.

    Google Scholar 

  7. T. Yabuta, A. Chona, “Stability of Force Control Servomechanism for Manipulator, Proc. 9th IASTED Int. Symp. on Robotics and Automation, Santa Barbara, May 1987, pp. 44–48.

    Google Scholar 

  8. P. Dauchez, “Task Description for the Symmetric Hybrid Control of a Two-Arm Robot Manipulator”, Technical Report # 90011, LAMM, April 1990.

    Google Scholar 

  9. P. Dauchez, R. Zapata, “Coordinated Control ot Two Cooperative Manipulators: The Use of a Kinematic Model”, Proc. 15th ISIR, Tokyo, September 1985, pp. 641–648.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. LAMM — URA CNRS 1480 — UM II, 34095, Montpellier Cedex 5, France

    Eric Dégoulange, Pierre Dauchez & Yann Bouffard-Vercelli

  2. Dassault Aviation, 78 Quai Dassault, 92214, Saint Cloud, France

    Xavier Delebarre

Authors
  1. Xavier Delebarre
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Eric Dégoulange
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Pierre Dauchez
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Yann Bouffard-Vercelli
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Raja Chatila Gerd Hirzinger

Rights and permissions

Reprints and permissions

Copyright information

© 1993 Springer-Verlag London Limited

About this paper

Cite this paper

Delebarre, X., Dégoulange, E., Dauchez, P., Bouffard-Vercelli, Y. (1993). Force control of a two-arm robot manipulating a deformable object. In: Chatila, R., Hirzinger, G. (eds) Experimental Robotics II. Lecture Notes in Control and Information Sciences, vol 190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036144

Download citation

  • DOI: https://doi.org/10.1007/BFb0036144

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19851-2

  • Online ISBN: 978-3-540-39323-8

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation