IEEE - Institute of Electrical and Electronics Engineers, Inc. - A single closed-loop kinematic chain approach for a hybrid control of two cooperating arms with a passive joint: an application to sawing task

Author(s): Hee-Joo Yeo ; II Hong Suh ; Byung-Ju Yi ; Sang-Rok Oh
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 February 1999
Volume: 15
Page Count: 11
Page(s): 141 - 151
ISSN (Paper): 1042-296X
DOI: 10.1109/70.744609
Regular:

Deals with a sawing task performed by two cooperating arms. The two-arm system under our hand consists of a four degree-of-freedom (DOF) SCARA robot and a five DOF PT200V robot. When the two arms... View More

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