Decentralized control of multiple cooperative manipulators with impedance interaction using fuzzy systems

Li, Zhijun; Deng, Shuming; Su, Chun‐Yi; Chai, Tianyou; Yang, Chenguang; Fu, Jun

doi:10.1109/icinfa.2014.6932737

Cited by 2 publications

(5 citation statements)

References 17 publications

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“…o f r,n−1 are given, C is automatically determined. Matrices W − and V are given by solving (12). Note that W − is not always W † , this fact depends upon C. The internal force between two virtual sticks i and j, which is defined as o ∆f bi,j , can be represented as…”

Section: Determination Of the Internal Force Of An N Robotic Arm Systemmentioning

confidence: 99%

“…Williams and Khatib proposed the concept of virtual linkage, which can control internal forces among multiple robotic arms [4]. Position/force hybrid control [5][6][7][8], and impedance-based control schemes for cooperating manipulators [9][10][11][12][13] have also been objects of study for a long time.…”

Section: Introductionmentioning

confidence: 99%

“…The chosen combinations are organized into an internal force vector o f m = C o q b , and this internal force set is treated as the set of control variables. Matrix V can be computed from (12).There are an infinite number of representations for the internal force vectors, and these representations can be transformed into each other. The following two internal force vectors are considered, for example.…”

mentioning

confidence: 99%

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Symmetry position/force hybrid control for cooperative object transportation using multiple humanoid robots

Ogawa

Konno

2015

Advanced Robotics

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A symmetry position/force hybrid control framework for cooperative object transportation tasks with multiple humanoid robots is proposed in this paper. In a leader-follower type cooperation, follower robots plan their biped gaits based on the forces generated at their hands after a leader robot moves. Therefore, if the leader robot moves fast (rapidly pulls or pushes the carried object), some of the follower humanoid robots may lose their balance and fall down. The symmetry type cooperation discussed in this paper solves this problem because it enables all humanoid robots to move synchronously. The proposed framework is verified by dynamic simulations.

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Section: Determination Of the Internal Force Of An N Robotic Arm Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

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Symmetry position/force hybrid control for cooperative object transportation using multiple humanoid robots

Ogawa

Konno

2015

Advanced Robotics

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“…Decentralized control algorithms are much easier to implement; however, sometimes this is more difficult to design and demonstrate their overall stability. Several approaches have been chosen in this area such as robust [7][8][9], adaptive [10][11][12][13] and [14] and fuzzy control [14,15]. Mukaiyama et al implemented the theory of two-degrees-of-freedom controller on a cooperative robotic system in a decentralized control approach [7].…”

Section: Introductionmentioning

confidence: 99%

“…Using the fuzzy control with a combination of adaptive parameter estimation and disturbance observation, Li et al designed a decentralized control algorithm for two robot manipulators which are moving an object cooperatively [15]. They modelled the contact force by the impedance approach and demonstrated the effectiveness of the controller when the object interacts with the environment.…”

Section: Introductionmentioning

confidence: 99%

Decentralized force and motion control of multiple cooperative manipulators

2021

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Decentralized force and motion control of a heavy object with lathing tools, in a cooperative multiple manipulator system is studied in this paper. Interaction of the object with robot manipulators and the environment and interaction of manipulators with each other that produce internal forces in the object are complexities in the system dynamics of cooperative manipulation tasks. In this paper, impedance behaviour between manipulator end-effectors (EE) and the object is developed to achieve springy links that lead to impedance effect between the object and the environment. Then, by focusing on the interaction effects in the system as well as the role of imposed kinematics and force constraints, each manipulator will have its own controller for coordination tasks, environment force regulation and internal forces minimization, without force/torque sensors in the EE. The relevance of the theoretical findings is illustrated using simulation results involving three robots manipulating a common object.

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Decentralized control of multiple cooperative manipulators with impedance interaction using fuzzy systems

Cited by 2 publications

References 17 publications

Symmetry position/force hybrid control for cooperative object transportation using multiple humanoid robots

Symmetry position/force hybrid control for cooperative object transportation using multiple humanoid robots

Decentralized force and motion control of multiple cooperative manipulators

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