Abstract
ABSTRACTThis paper presents a centralized force/position controller for a heavy object manipulation in a multi-manipulator cooperative system. System dynamics of cooperative manipulating tasks comes from complex interaction of the object with robot manipulators and the environment. In this paper, focussing on the interaction effects in the system as well as by noting the role of imposed kinematics and force constraints, manipulator coordination and minimizing internal forces a pre-designed impedance behaviour between manipulator end effectors and the object is developed. The stability of the feedback system is then presented through passivity theorem and simulation results are finally provided with three manipulators handling the object supporting the relevance of the theoretical results.
Highlights
The system of multiple robot manipulators cooperatively handling an object is growing interest in applications such as construction, assembly tasks, rescue, forestry, material handling in industrial automation and aerial tasks
This paper presents a centralized force/position controller for a heavy object manipulation in a multi-manipulator cooperative system
System dynamics of cooperative manipulating tasks comes from complex interaction of the object with robot manipulators and the environment
Summary
The system of multiple robot manipulators cooperatively handling an object is growing interest in applications such as construction, assembly tasks, rescue, forestry, material handling in industrial automation and aerial tasks. The subject is to design a reliable controlled cooperative system that focusses on achieving desired force/motion tasks defined for tools. With this target, we will use model-based strategies considering the uncertainties and other noises which come in contact in real world. Task-independent controller for each robot in event-based coordination scheme was presented in [8] with position/force controller that incorporates the robot dynamics as well as the dynamics of robot joint motor It shows that the proportional control plays no role in the force feedback control law; it would be very difficult to achieve both small steady state tracking error and quick transient response. A desired compliance for tool in contact with environment is considered and the designed control system will back propagate this behaviour to each individual robot manipulator
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