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Concepts and algorithms for programming and control of force-constrained cooperative robots

: Zhang, Y.; Duelen, G.; Münch, H.

Proceedings of the 4th World Conference on Robotics Research
World Conference on Robotics Research <4, 1991, Pittsburgh/Pa.>
Conference Paper
Fraunhofer IPK ()
force-contrained cooperating robot; hybrid control; programming and control

Task planning and control of force-constrained cooperating robot systems are investigated in this paper. The developed algorithms for the coordinated optimal motion planning and force distribution of force-constrained cooperating robots take various task specific requirements into consideration and are adaptible to any kinematic and any assignment in the production cell. The developed hybrid control scheme is characterized by its validity in various classes of tasks and its hierarchical structure. The validity of the concepts and algorithms for the task planning and control was successfully proved by the simulation on typical cooperating robot systems with two six-jointed industrial robots using exemplary tasks.