Independent force and position control for cooperating manipulators

Tzierakis, K.G.; Koumboulis, Fotis N.

doi:10.1016/j.jfranklin.2003.10.002

Cited by 24 publications

(7 citation statements)

References 26 publications

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“…Note, however, that the desired equilibrium point (e p , e v f , e ϕ , e ǫ ) = (0 3 , 0 6 , 1, 0 3 ) is eventually attractive, meaning that for each δ ε > 0, there exist finite a time instant T ≥ 0 such that 1 − e ϕ (t) < δ ε , ∀t > T ≥ 0. A similar behavior is observed if we stabilize the point e ϕ = −1 instead of e ϕ = 1, by setting e := [e ⊤ p , e ⊤ ǫ ] ⊤ in (17) and considering the term 2(1 + e ϕ ) instead of 2(1 − e ϕ ) in the function (23).…”

Section: A Adaptive Control With Quaternion Feedbacksupporting

confidence: 64%

“…Full model information is employed in the works [1], [7], [9], [10], [13], [15], [17], [23]; [7] employs a velocity estimator, [23] uses a linearized model, and [14], [15] considers kinematic and grasping uncertainties. Adaptive control schemes are developed in [20], where redundancy is used for obstacle avoidance and [27], where the object dynamics are not taken into account; [28] and [29] propose protocols based on graphbased communication by neglecting parts of the overall system dynamics, and [18], [29] consider leader-follower approaches.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust Cooperative Manipulation Without Force/Torque Measurements: Control Design and Experiments

Verginis

Mastellaro

Dimarogonas

2020

IEEE Trans. Contr. Syst. Technol.

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This paper presents two novel control methodologies for the cooperative manipulation of an object by N robotic agents. Firstly, we design an adaptive control protocol which employs quaternion feedback for the object orientation to avoid potential representation singularities. Secondly, we propose a control protocol that guarantees predefined transient and steadystate performance for the object trajectory. Both methodologies are decentralized, since the agents calculate their own signals without communicating with each other, as well as robust to external disturbances and model uncertainties. Moreover, we consider that the grasping points are rigid, and avoid the need for force/torque measurements. Load distribution is also included via a grasp matrix pseudo-inverse to account for potential differences in the agents' power capabilities. Finally, simulation and experimental results with two robotic arms verify the theoretical findings.

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Section: A Adaptive Control With Quaternion Feedbacksupporting

confidence: 64%

Section: Introductionmentioning

confidence: 99%

Robust Cooperative Manipulation Without Force/Torque Measurements: Control Design and Experiments

Verginis

Mastellaro

Dimarogonas

2020

IEEE Trans. Contr. Syst. Technol.

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“…To maintain safe robot–environment interaction, the hybrid position/force control scheme is another widely adopted for interactive control system in dual-arm cooperative robots. This control idea is that the robots employ a force control strategy in the constrained subspace and position control strategy in the free subspace [ 17 ]. Re et al proposed an adaptive hybrid position/force control algorithm with closed-chain kinematics and uncertain dynamics, which is a relatively advanced hybrid position/force control technique [ 6 ].…”

Section: Introductionmentioning

confidence: 99%

Dual-Arm Coordinated Control Strategy Based on Modified Sliding Mode Impedance Controller

Liu

Zhu

et al. 2021

Sensors

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To meet the high-accuracy position/force control requirements of dual-arm robots for handling a target object, a control algorithm for dual-arm robots based on the modified sliding mode impedance controller MSMIC(tanh) is proposed. First, the combinative kinematics equation of the dual-arm robots and the unified dynamics model combining the manipulated object is established. Second, according to the impedance control motion model for the object, the desired joint angular accelerations of the manipulators are obtained, and the sliding mode controller based on the hyperbolic tangent function as the switch function is introduced to design the coordinated control strategy for dual-arm robots. The stability and convergence of the designed controller are proved according to the Lyapunov function theory. Finally, the operation tasks of the coordinated transport the target object for dual-arm robots are carried out in the simulated experiment environment. Simulation results show that the proposed control scheme can stably output the required internal force and achieve a high-precision trajectory tracking effect while reducing the periodic torque and joint chattering amplitude generated in the conventional sliding mode control algorithm.

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“…To keep safety and controllable interaction, impedance control and hybrid position/force control (HPF) [4] are two schemes extensively used in the dual-arm cooperative manipulation tasks. Although approaches of internal impedance [5] , object impedance [6] and combined multi-layer impedance [7,8] are proposed to achieve desired interaction in the end-effector level and object level, and can be applied without any switching procedure between contact and non-contact case, lack of precision in controlling position of the grasped object and the contact force as compared to hybrid position/force control may limit their application in some situations like surgery, manufacturing, precision welding, etc.…”

Section: Introductionmentioning

confidence: 99%

Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics

Ren

Chen

Liu

et al. 2017

Journal of the Franklin Institute

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In this paper, a novel adaptive control for dual-arm cooperative manipulators is proposed to accomplish the hybrid position/force tracking in the presence of dynamic and closed-chain kinematic uncertainties. Self-convergent parameter estimation of the grasped object's centre of mass and contact force estimation are incorporated into this systematic scheme. Moreover, internal force and contact force tracking objectives are achieved simultaneously by incorporating into the position tracking formula with proper null-space projection and rotation transformation. Noisy force derivative signals are not required. This adaptive controller is mathematically derived based on Lyapunov stability analysis. Three sets of simulations corresponding to three different situations are presented to verify the effectiveness and superiority of the proposed controller.

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Independent force and position control for cooperating manipulators

Cited by 24 publications

References 26 publications

Robust Cooperative Manipulation Without Force/Torque Measurements: Control Design and Experiments

Robust Cooperative Manipulation Without Force/Torque Measurements: Control Design and Experiments

Dual-Arm Coordinated Control Strategy Based on Modified Sliding Mode Impedance Controller

Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics

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