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Coordination of multiple robot armsKinematic resolved-rate control from one robot arm is extended to the coordinated control of multiple robot arms in the movement of an object. The structure supports the general movement of one axis system (moving reference frame) with respect to another axis system (control reference frame) by one or more robot arms. The grippers of the robot arms do not have to be parallel or at any pre-disposed positions on the object. For multiarm control, the operator chooses the same moving and control reference frames for each of the robot arms. Consequently, each arm then moves as though it were carrying out the commanded motions by itself.
Document ID
19890017155
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Barker, L. K. (NASA Langley Research Center Hampton, VA, United States)
Soloway, D. (NASA Langley Research Center Hampton, VA, United States)
Date Acquired
September 6, 2013
Publication Date
July 1, 1987
Publication Information
Publication: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the Workshop on Space Telerobotics, Volume 2
Subject Category
Mechanical Engineering
Accession Number
89N26526
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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