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TECHNICAL PAPERS

Sensor-Based Estimation and Control of Forces and Moments in Multiple Cooperative Robots

[+] Author and Article Information
Manish Kumar

Dept. of Mechanical Engineering and Materials Science, Duke University, Box 90300, Durham, NC 27708e-mail: manish@duke.edu

Devendra P. Garg

Dept. of Mechanical Engineering and Materials Science, Duke University, Box 90300, Durham, NC 27708e-mail: dpgarg@duke.edu

J. Dyn. Sys., Meas., Control 126(2), 276-283 (Aug 05, 2004) (8 pages) doi:10.1115/1.1766029 History: Received July 08, 2003; Revised November 14, 2003; Online August 05, 2004
Copyright © 2004 by ASME
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References

Figures

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Manipulator Payload Dynamics of a Closed Chain Robotic System
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Forces and Moments Acting on the Gripper
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Membership Functions for Input and Output Variables
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Laboratory Setup Showing ABB Robots with Force/Torque Sensors, Indexing Table and Conveyor System
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Hierarchy of Control Architecture
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Position of Robot End Effector
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Forces Sensed and Estimated in Three Directions
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Moments Sensed and Estimated in Three Directions
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Forces at the End Effector in X and Y Directions for Both Robots
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Moments at the End Effector in X, Y and Z Directions for Both Robots
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Velocity of End Effector (mm/sec)
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Forces Estimated at End Effector for Both Robots
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Moments Estimated at End Effector for Both Robots

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