Collaborative Assembly Operation between Two Modular Robots Based on the Optical Position Feedback
Joint Authors
Source
Issue
Vol. 2009, Issue 2009 (31 Dec. 2009), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2010-01-19
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
This paper studies the cooperation between two master-slave modular robots.
A cooperative robot system is set up with two modular robots and a dynamic optical meter-Optotrak.
With Optotrak, the positions of the end effectors are measured as the optical position feedback, which is used to adjust the robots' end positions.
A tri-layered motion controller is designed for the two cooperative robots.
The RMRC control method is adopted to adjust the master robot to the desired position.
With the kinematics constraints of the two robots including position and pose, joint velocity, and acceleration constraints, the two robots can cooperate well.
A bolt and nut assembly experiment is executed to verify the methods.
American Psychological Association (APA)
Su, Liying& Shi, Lei& Yu, Yueqing. 2010. Collaborative Assembly Operation between Two Modular Robots Based on the Optical Position Feedback. Journal of Robotics،Vol. 2009, no. 2009, pp.1-8.
https://search.emarefa.net/detail/BIM-455089
Modern Language Association (MLA)
Su, Liying…[et al.]. Collaborative Assembly Operation between Two Modular Robots Based on the Optical Position Feedback. Journal of Robotics No. 2009 (2009), pp.1-8.
https://search.emarefa.net/detail/BIM-455089
American Medical Association (AMA)
Su, Liying& Shi, Lei& Yu, Yueqing. Collaborative Assembly Operation between Two Modular Robots Based on the Optical Position Feedback. Journal of Robotics. 2010. Vol. 2009, no. 2009, pp.1-8.
https://search.emarefa.net/detail/BIM-455089
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-455089