Coordinated Dynamic Hybrid Position/Force Control for Multiple Robot Manipulators Handling One Constrained Object

Yoshikawa, Tsuneo; Zheng, Xin-Zhi

doi:10.5687/iscie.3.326

Cited by 40 publications

(53 citation statements)

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“…Hybrid force/motion control is a well-established method [11], [12], [13]. Using such hybrid strategy, the force controller can maintain the contact between the valve and the gripper while the motion controller turns the valve.…”

Section: Methodsmentioning

confidence: 99%

“…In this phase, the goal of the robot is to turn the valve (by 180 • from its initial configuration) while maintaining the position of the gripper. To control the forces and torques applied to the end-effector, a hybrid force/motion control approach is used [11], [12], [13]. Hybrid force/motion controller is preferred to be used in this application because during the turning phase a zero force controller can reduce the undesired forces and torques.…”

Section: Force/motion Control Strategymentioning

confidence: 99%

See 1 more Smart Citation

Learning reactive robot behavior for autonomous valve turning

Ahmadzadeh

Kormushev

Jamisola

et al. 2014

2014 IEEE-RAS International Conference on Humanoid Robots

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Abstract-A learning approach is proposed for the challenging task of autonomous robotic valve turning in the presence of active disturbances and uncertainties. The valve turning task comprises two phases: reaching and turning. For the reaching phase the manipulator learns how to generate trajectories to reach or retract from the target. The learning is based on a set of trajectories demonstrated in advance by the operator. The turning phase is accomplished using a hybrid force/motion control strategy. Furthermore, a reactive decision making system is devised to react to the disturbances and uncertainties arising during the valve turning process. The reactive controller monitors the changes in force, movement of the arm with respect to the valve, and changes in the distance to the target. Observing the uncertainties, the reactive system modulates the valve turning task by changing the direction and rate of the movement. A real-world experiment with a robot manipulator mounted on a movable base is conducted to show the efficiency and validity of the proposed approach.

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Section: Methodsmentioning

confidence: 99%

Section: Force/motion Control Strategymentioning

confidence: 99%

Learning reactive robot behavior for autonomous valve turning

Ahmadzadeh

Kormushev

Jamisola

et al. 2014

2014 IEEE-RAS International Conference on Humanoid Robots

View full text Add to dashboard Cite

show abstract

“…The approaches can be classified into two groups depending on whether the contact force is explicitly controlled or not. One is the hybrid position and force control (including the grasping force control) [34,35,36,37] which controls the positions in some directions and the force in other directions simultaneously. The other is impedance control which regulates the contact forces implicitly by specifying the desired impedance [38,39,40,41].…”

Section: Related Workmentioning

confidence: 99%

Dexterous grasping under shape uncertainty

Hang

Kragić

et al. 2016

Robotics and Autonomous Systems

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An important challenge in robotics is to achieve robust performance in object grasping and manipulation, dealing with noise and uncertainty. This paper presents an approach for addressing the performance of dexterous grasping under shape uncertainty. In our approach, the uncertainty in object shape is parameterized and incorporated as a constraint into grasp planning. The proposed approach is used to plan feasible hand configurations for realizing planned contacts using different robotic hands. A compliant finger closing scheme is devised by exploiting both the object shape uncertainty and tactile sensing at fingertips. Experimental evaluation demonstrates that our method improves the performance of dexterous grasping under shape uncertainty.

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“…Until now, strategies for multiple robot control can be divided into three types: master-slave control [1][2][3], hybrid position-force control [4][5][6] and dynamic coordination control [7][8][9]. All these methods pay their attention to the control of the robots themselves.…”

Section: Introductionmentioning

confidence: 99%

Cooperative Path Planning and Constraints Analysis for Master-Slave Industrial Robots

Gan

Duan

2012

International Journal of Advanced Robotic Systems

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A strategy of cooperative path planning for a master-slave multiple robot system is presented in this paper.The path planning method is based on motion constraints between the end-effectors of cooperative robots.Cooperation motions have been classified into three types by relative motions between end-effectors of master and slave robots, which is concurrent cooperation, coupled synchronous cooperation and combined synchronous cooperation. Based on this classification, position /orientation constraints and joint velocity constraints are explored in-depth here.In order to validate the path planning method and the theoretical developments in motion constraints analysis, representative experiments based on two industrial robots, Motoman VA1400 and HP20, are provided at the end of the paper. The experimental results have proved both the effectiveness of the path planning method and the correctness of the constraints analysis.

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Coordinated Dynamic Hybrid Position/Force Control for Multiple Robot Manipulators Handling One Constrained Object

Cited by 40 publications

References 0 publications

Learning reactive robot behavior for autonomous valve turning

Learning reactive robot behavior for autonomous valve turning

Dexterous grasping under shape uncertainty

Cooperative Path Planning and Constraints Analysis for Master-Slave Industrial Robots

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