Decentralized Motion Control of Dual Manipulators in Coordination Using Vision and Force Sensors
Kazuhiro Kosuge*, Daiji Taguchi**, Koji Takeo**
*Department of Machine Intelligence and Systems Engineering, Tohoku University, Aza Aoba, Aramaki, Aoba-ku, Sendai, 980-77 Japan
**Nippon Telegraph and Telephon Corporation, 2-1-1 Nishi-Gotanda, Shinagawa-ku, Tokyo, 141 Japan
A coordinated motion control algorithm for manipulators using vision and force sensors is proposed in this paper, by which each manipulator is controlled by its own controller in a decentralized way. We consider both manipulation of a single object and assembly of two parts by dual manipulators in coordination. When both manipulators are manipulating a single object in coordination, the desired motion of the manipulated object is given to one of the arms referred to as the leader and other manipulator referred to as the follower estimates the desired motion given to the leader, based on the information from its own force sensor, and manipulates the object in coordination with the leader. An task assembling two parts is described by the motion of a part handled by the leader and the relative motion between the parts given to the follower. The relative motion is observed and controlled by a vision sensor attached to the follower and the assembly task is executed independently of the motion of the leader. Experimental results illustrate the proposed scheme.