M. Yamakita, Koji Suzuki, Xin-Zhi Zheng, M. Katayama, Koji Ito
{"title":"被动速度场控制在协同多机械臂系统中的扩展","authors":"M. Yamakita, Koji Suzuki, Xin-Zhi Zheng, M. Katayama, Koji Ito","doi":"10.1109/IROS.1997.648974","DOIUrl":null,"url":null,"abstract":"Traditionally, tasks for a manipulator are specified by a desired timed trajectory. There, however, are many tasks in which the desired motions are specified by the state of system rather than time, such as contour following tasks. For such tasks, passive velocity field control (PVFC) has been proposed and the geometry of the controlled systems was analyzed. In this paper, a method to extend the PVFC to cooperative multiple manipulators is proposed, and the effectiveness of the control method is demonstrated by numerical simulations, and some properties are shown.","PeriodicalId":408848,"journal":{"name":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","volume":"31 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"22","resultStr":"{\"title\":\"An extension of passive velocity field control to cooperative multiple manipulator systems\",\"authors\":\"M. Yamakita, Koji Suzuki, Xin-Zhi Zheng, M. Katayama, Koji Ito\",\"doi\":\"10.1109/IROS.1997.648974\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Traditionally, tasks for a manipulator are specified by a desired timed trajectory. There, however, are many tasks in which the desired motions are specified by the state of system rather than time, such as contour following tasks. For such tasks, passive velocity field control (PVFC) has been proposed and the geometry of the controlled systems was analyzed. In this paper, a method to extend the PVFC to cooperative multiple manipulators is proposed, and the effectiveness of the control method is demonstrated by numerical simulations, and some properties are shown.\",\"PeriodicalId\":408848,\"journal\":{\"name\":\"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97\",\"volume\":\"31 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1997-09-07\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"22\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.1997.648974\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1997.648974","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
An extension of passive velocity field control to cooperative multiple manipulator systems
Traditionally, tasks for a manipulator are specified by a desired timed trajectory. There, however, are many tasks in which the desired motions are specified by the state of system rather than time, such as contour following tasks. For such tasks, passive velocity field control (PVFC) has been proposed and the geometry of the controlled systems was analyzed. In this paper, a method to extend the PVFC to cooperative multiple manipulators is proposed, and the effectiveness of the control method is demonstrated by numerical simulations, and some properties are shown.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
