A Framework for Implementing Cooperative Motion on Industrial Controllers

Braun, Barbara; Starr, Gregory P.; Wood, John; Lumia, Ronald

doi:10.1109/tra.2004.824941

Cited by 23 publications

(5 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A framework for implementing coordinated object manipulation on industrial robots by taking advantage of the object-based reference frame has been presented. 42 Real-time trajectory modification and distributed control allow each robot to execute its own native low-level code, without the need for inter robot communication as the trajectories are executing, where a compliant controller around the basic motion is implemented.…”

Section: Force/impedance Controlmentioning

confidence: 99%

Free-flying robots in space: an overview of dynamics modeling, planning and control

Moosavian¹,

Papadopoulos²

2007

Robotica

167

View full text Add to dashboard Cite

SUMMARYFree-flying space manipulator systems, in which robotic manipulators are mounted on a free-flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency operations in space. Nevertheless, even for fixed-base systems, control of mechanical manipulators is a challenging task. This is due to strong nonlinearities in the equations of motion, and consequently different algorithms have been suggested to control end-effector motion or force, since the early research in robotic systems. In this paper, first a brief review of basic concepts of various algorithms in controlling robotic manipulators is introduced. Then, specific problems related to application of such systems in space and a microgravity environment is highlighted. Basic issues of kinematics and dynamics modeling of such systems, trajectory planning and control strategies, cooperation of multiple arm space free-flying robots, and finally, experimental studies and technological aspects of such systems with their specific limitations are discussed.

show abstract

Section: Force/impedance Controlmentioning

confidence: 99%

Free-flying robots in space: an overview of dynamics modeling, planning and control

Moosavian¹,

Papadopoulos²

2007

Robotica

167

View full text Add to dashboard Cite

show abstract

“…It is widely accepted that the formation control of networked Lagrangian systems has recently become a very important issue in the context of cooperative control for multiple agent systems due to its potential engineering applications. For example, automatic formation vehicles were used to convey the material in modern self‐service factory [17]. The aeroplanes which form sensor display accurately in special geometric interrelation between them can fly upside down and do other stunts [18].…”

Section: Introductionmentioning

confidence: 99%

Formation control with collision avoidance for uncertain networked Lagrangian systems via adaptive gain techniques

Miao

Zhou

2018

IET Control Theory & Applications

View full text Add to dashboard Cite

“…Although the APF/VFF approach is simple and fast, with this approach robot dynamics usually need to be considered and the torque control mode employed for joint servomotors. Commercial industrial robotic manipulators rarely provide torque control mode [18] but actuate the joints instead by position or velocity signal. For this reason, some researchers have used the potential field function to calculate correction of position in task space, utilizing robotic kinematics for robot control [19–21], Other researchers have constructed virtual velocity functions and utilized velocity control mode to actuate mobile robots [22–24] and articulated robot arms [25] in an environment with moving obstacles.…”

Section: Introductionmentioning

confidence: 99%

Virtual Velocity Vector-Based Offline Collision-Free Path Planning of Industrial Robotic Manipulator

Ouyang

2015

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

Currently, industrial robotic manipulators are applied in many manufacturing applications. In most cases, an industrial environment is a cluttered and complex one where moving obstacles may exist and hinder the movement of robotic manipulators. Therefore, a robotic manipulator not only has to avoid moving obstacles, but also needs to fulfill the manufacturing requirements of smooth movement in fixed tact time. Thus, this paper proposes a virtual velocity vector-based algorithm of offline collision-free path planning for manipulator arms in a controlled industrial environment. The minimum distance between a manipulator and a moving obstacle can be maintained at an expected value by utilizing our proposed algorithm with established offline collision-free path-planning and trajectory-generating systems. Furthermore, both joint space velocity and Cartesian space velocity of generated time-efficient trajectory are continuous and smooth. In addition, the vector of detour velocity in a 3D environment is determined and depicted. Simulation results indicate that detour velocity can shorten the total task time as well as escaping the local minimal effectively. In summary, our approach can fulfill both safety requirements of collision avoidance of moving obstacles and manufacturing requirements of smooth movement within fixed tact time in an industrial environment.

show abstract

A Framework for Implementing Cooperative Motion on Industrial Controllers

Cited by 23 publications

References 18 publications

Free-flying robots in space: an overview of dynamics modeling, planning and control

Free-flying robots in space: an overview of dynamics modeling, planning and control

Formation control with collision avoidance for uncertain networked Lagrangian systems via adaptive gain techniques

Virtual Velocity Vector-Based Offline Collision-Free Path Planning of Industrial Robotic Manipulator

Contact Info

Product

Resources

About