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An experimental set‐up for cooperative manipulation based on industrial manipulators

Fabrizio Caccavale (Fabrizio Caccavale is Post‐Doctoral Researcher (caccaval@unina.it) in the Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Napoli, Italy.)
Pasquale Chiacchio (Pasquale Chiacchio is Associate Professor in the Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Napoli, Italy.)

Industrial Robot

ISSN: 0143-991x

Article publication date: 1 April 2000

Abstract

Describes the experience of setting up a cooperative arm system based on individual open‐architecture controllers. Two six‐degree‐of‐freedom industrial manipulators, one of which is mounted on a moving track, are installed to realize a cooperative experimental set‐up. The main issues related to the cooperative manipulation are overviewed and its potential applications in industry are discussed. A brief description of the system’s components is given. The most relevant problems encountered in setting up the cooperative system based on individual control architectures are detailed. The result of the experience is that by using available industrial manipulators, rather than prototypes, and without re‐designing the controller hardware, it is possible to realize a cooperative manipulator system.

Keywords

Citation

Caccavale, F. and Chiacchio, P. (2000), "An experimental set‐up for cooperative manipulation based on industrial manipulators", Industrial Robot, Vol. 27 No. 2, pp. 120-130. https://doi.org/10.1108/01439910010315445

Publisher

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MCB UP Ltd

Copyright © 2000, MCB UP Limited