Control Of Multiple Robot Arms Research Articles

PC based Position-Control of Multiple Robot Arms

This paper presents the selection and control of multiple robot arms for industrial applications that require more than a single robot arm to achieve the task. We have used two robot arms with 6 Degrees of Freedom each to demonstrate the control for a ‘pick and place’ industrial application. The control of multiple robot arms in conjunction can be implemented in certain applications to effectively reduce the ‘mission time’. We have proposed a control and drive circuit for this purpose. The discrete control signals from the parallel port of a PC are used to control the robot arms and the control logic is implemented using ‘C’ programming language.

Decentralized Adaptive Coordinated Control of Multiple Robot Arms for Constrained Tasks

The decentralized adaptive coordinated control of multiple robot arms grasping a common object constrained by a known environment involves the analysis of cases of rigid and rolling contact between end-effectors and object. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. Desired motion of the robot arms is generated by an estimated object reference model. The asymptotic stability of motion is proven by the Lyapunov-like lemma. Experimental results for two planar robot arms with 3 DOF moving a constrained object demonstrate the effectiveness of the control scheme.

Decentralized adaptive coordinated control of multiple robot arms without using a force sensor

This paper presents a distributed adaptive coordinated control method for multiple robot arms grasping a common object. The cases of rigid contact and rolling contact are analyzed. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model. The control method requires only the measurements of the positions and velocities of the object and robot arms, but not the measurements of forces and moments at contact points. The asymptotic convergence of trajectory is proven by the Lyapunov-like Lemma. Experiments involving two robot arms handling a common object are shown.

Decentralized Adaptive Coordinated Control of Multiple Robot Arms Handling One Object

This paper presents an adaptive decentralized coordinated control method for multiple robot arms grasping a common object. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model and each robot controller works independently as hybrid adaptive controller. The asymptotic stability of position and internal force of the object is proven by the Lyapunov-Like Lemma. Experimental comparisons between adaptive control with force sensor and one without force sensor for the two robot arms grasping a common object are shown.

Adaptive decentralized coordinated control of multiple robot arms

This paper presents an adaptive decentralized coordinated control method for multiple robot arms grasping a common object. In the proposed controller, the dynamic parameters of both object and robot arms are estImated adaptively. The desired motions of the robot arms are generated by an estimated object reference model and each robot controller works independently as hybrid adaptive controller. The asymtotic stability of position and internal force of the object is proven by the Lyapunov-Like Lemma. Expenmental result for the two robot arms grasping a common object is shown.

複数ロボットによる力センサレス適応協調制御

複数ロボットによる力センサレス適応協調制御

Adaptive Coordinated Control of Multiple Robot Arms

This paper presents an adaptive coordinated control method for multiple robot arms grasping a common object rigidly. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model. The control method needs measurements of only positions and velocities of the object and robot arms and doesn’t need the measurements of forces and moments at contact points. The asymptotic stability of motion is proven by the Lyapunov-Like Lemma. Computational simulation for the two robot arms handling a common object is shown.

Adaptive sliding mode coordinated control of multiple robot arms attached to a constrained object

When a common object, attached to multiple robot arms, is cooperatively manipulated to move along a constrained surface, the control task requires the simultaneous control of the motion trajectory of the attached object on the constrained surface; the constrained force due to the contact with the surface; and the internal force exerted by the arms on the object. To accomplish such a control objective, an adaptive sliding mode control algorithm is presented by developing a new concise dynamic model of the system and exploiting its particular properties. Detailed analysis on the tracking properties of the object's position, the constrained force, and the internal force are given. The stability analysis shows that the proposed algorithm can achieve satisfactory tracking performance. >

An adaptive control scheme for coordinated multimanipulator systems

The problem of adaptive coordinated control of multiple robot arms transporting an object is addressed. A stable adaptive control scheme for both trajectory tracking and internal force control is presented. Detailed analyses on tracking properties of the object position and velocity and the internal forces exerted on the object are given. It is shown that this control scheme achieves satisfactory tracking performance without using the measurement of contact forces and their derivatives. It can be shown that this scheme can be realized by decentralized implementation to reduce the computational burden. Moreover, some efficient adaptive control strategies can be incorporated to reduce the computational complexity. >

Coordinated Control of Multiple Robot Arms

Coordinated Control of Multiple Robot Arms