{"title":"Cooperative motion control of multiple robot arms or fingers","authors":"S. Arimoto, F. Miyazaki, S. Kawamura","doi":"10.1109/ROBOT.1987.1087820","DOIUrl":null,"url":null,"abstract":"A new cooperative motion control scheme for multiple robot arms or fingers is proposed, which is derived from the analogy of a bilateral control for teleoperation of a system of master and slave robots. A group of some robot arms (or fingers) are moved in cooperation with the master ones. It is shown that a Lyapunov method gives rise to an assurence of the asymptotic.","PeriodicalId":438447,"journal":{"name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","volume":"34 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1987-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"122","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.1987.1087820","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 122
Abstract
A new cooperative motion control scheme for multiple robot arms or fingers is proposed, which is derived from the analogy of a bilateral control for teleoperation of a system of master and slave robots. A group of some robot arms (or fingers) are moved in cooperation with the master ones. It is shown that a Lyapunov method gives rise to an assurence of the asymptotic.
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