An adaptive control scheme for coordinated multimanipulator systems

Jean, Jong-Hann; Fu, Li‐Chen

doi:10.1109/70.238287

Cited by 108 publications

(45 citation statements)

References 18 publications

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“…For this case adaptive techniques (see e.g. [11] and the references therein) have been proposed. In the present paper, a simple and direct algebraic approach, not requiring any intelligent procedure (e.g.…”

Section: Introductionmentioning

confidence: 99%

Independent force and position control for cooperating manipulators

Tzierakis¹,

Koumboulis²

2003

Journal of the Franklin Institute

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Section: Introductionmentioning

confidence: 99%

Independent force and position control for cooperating manipulators

Tzierakis¹,

Koumboulis²

2003

Journal of the Franklin Institute

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“…Another important feature that distinguishes the several proposed solutions is given by the need of force measurements, i.e., of the insertion of force sensors on the robots end-effectors. While the approaches proposed in [1], [8], and [16] present this requirement, the adaptive control scheme illustrated in [11], for both trajectory tracking and internal force control in the case of multiple robot arms transporting an object, does not use the measurements of contact forces and of their derivatives.…”

Section: Introductionmentioning

confidence: 98%

“…Various controllers for cooperating multiple robots have been proposed during recent years (see, e.g., [1], [5], [8], [11], [15], [16], and [22]). In several applications, the imposed tasks require a simultaneous control of force and position, as the interaction with another robot or an object to be manipulated is involved, whereas only in few cases the assignment of a particular reference contact force is not needed; for example, in [5] the transport of an object is performed by two cooperating manipulators, by means of a controller constituted for each manipulator by an off-line calculated feedforward part (which includes the compensation of the robot and the object dynamics), and by an on-line computed PID feedback part, plus a possible additional feedforward term for friction compensation, but no force control is present.…”

Section: Introductionmentioning

confidence: 99%

Impact model and control of two multi-DOF cooperating manipulators

Indri

Tornambè

1999

IEEE Trans. Automat. Contr.

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The problem of modeling and controlling the impact between the end-effectors of two multi-DOF cooperating manipulators is considered in this paper, with the goal of designing a control scheme that brings the end-effectors in a steady-state contact with each other and regulates the robots to desired configurations, with an assigned contact force. The equations of motion of the robots are determined both in the contact condition and in the noncontact one. One controller is designed for each manipulator, independently of the other one, including a reduced-order observer for the estimation of the impact-induced forces; in particular, each controller requires only the position and velocity measurements of the robot on which it is implemented (no force measurement is necessary). Such a control scheme, which works correctly also when the robots do not interact (no switching condition is present), allows the global asymptotic regulation of the cooperating robot arms to the desired configuration, with the prescribed contact force, as it is analytically proven in the paper.

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“…A decentralized adaptive control scheme where each robot is controlled separately by its own local controller is presented in [9]. The adaptive coordinated control of multiple robots transporting an object where all dynamics parameters of the robots and object are unknown constants is further developed in [10]. Adaptive hybrid force/motion control of cooperative manipulators interacting with unknown environment is proposed in [11].…”

Section: Introductionmentioning

confidence: 99%

Self-tuning cooperative control of manipulators with position/orientation uncertainties in the closed-kinematic loop

Aghili¹

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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The problem of adaptive control of cooperative manipulators carrying an object in the presence of geometric uncertainties in the closed-kinematic loop is addressed in this paper. The kinematic parameters are estimated in real-time using two cascaded estimators in order to tune a cooperative controller to achieve accurate motion tracking with minimumnorm actuation force. Hence, no force measurement is required to deal with kinematic uncertainties of interconnected robotic system. The stability of the entire real-time estimator/controller system is systematically investigated. The results show that the convergence and stability of the adaptive control process can be ensured if the direction of angular velocity of the object does not remain constant over time. Experimental results demonstrate that even small error in relative position/orentation of two cooperative manipulators can give rise to tracking errors of a conventional inverse dynamic controller while the self-tuning cooperative controller is capable of significantly reducing the tracking errors.

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An adaptive control scheme for coordinated multimanipulator systems

Cited by 108 publications

References 18 publications

Independent force and position control for cooperating manipulators

Independent force and position control for cooperating manipulators

Impact model and control of two multi-DOF cooperating manipulators

Self-tuning cooperative control of manipulators with position/orientation uncertainties in the closed-kinematic loop

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