Motion Planning for Closed-Chain Constraints Based on Probabilistic Roadmap With Improved Connectivity

Jang, Keunwoo; Baek, Jiyeong; Park, Suhan; Park, Jaeheung

doi:10.1109/tmech.2022.3175260

Cited by 21 publications

(15 citation statements)

References 27 publications

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“…where 𝐹 𝑖𝑛𝑡 𝑇 is the interaction force between the end-effector and environment, 𝑀 𝑑 ∈ ℝ 3 is the desired inertia matrix, 𝐷 𝑑 ∈ ℝ 3 is the desired damping matrix, and 𝐾 𝑑 ∈ ℝ 3 is the desired stiffness matrix, all of which are diagonal positive-definite matrices. Furthermore, 𝜒 𝑑 ∈ ℝ 3 and 𝜒 ∈ ℝ 3 are the desired and actual positions (X-, Y-, and Z-axes) of the end-effector frame {T}, respectively.…”

Section: Impedance Methodsmentioning

confidence: 99%

“…For instance, a dual-arm ULE assists humans with bimanual tasks to manipulate a heavy object by distributing its load. Many studies have discussed the benefits of bimanual arms and the significance of their control method [2][3][4][5][6]. For example, [2] presented a new control approach that directs coordinated arms to grasp moving objects.…”

Section: Introductionmentioning

confidence: 99%

“…For example, [2] presented a new control approach that directs coordinated arms to grasp moving objects. In [3], three arms were used to carry particular objects (e.g., chairs) that could not be carried by a single arm because of the payload or workspace limitations. [4] also discussed how multiple arms are able to perform assignments that are not possible for single arms to achieve, such as assembly and carrying a heavy object.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Distributed Impedance Control of Coordinated Dissimilar Upper-Limb Exoskeleton Arms

Tahamipour-Z.¹,

Mattila²

2023

Preprint

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<p>Upper-limb exoskeleton (ULE) arms have the potential to assist humans in accomplishing tasks by distributing a heavy load. ULE arms are designed to be comfortable and lightweight wearable robotic devices, a design that has resulted in the complexity of their structures, actuators, and power transmissions. Additionally, different ULE vendor structures and biomechanical variations between humans have resulted in dissimilar coordinated ULE arm systems. These complex multiple ULE arm systems can be handled through adaptive virtual decomposition control (VDC) if unknown dynamic models are not considered. Accordingly, this paper proposes a new distributed framework for the adaptive impedance-based VDC method to address the abovementioned challenges and thereby enhance the performance and robustness of the ULE arm systems. To that end, the proposed control method has a prediction capability and an ancillary control law for coordinated dissimilar ULE arms holding a common object. The system stability is analyzed using the input-to-state stability approach. The performance of the proposed controller is evaluated both in simulation with six coordinated ULE arms and in an experiment with two commercial coordinated ULE arms each with seven degrees of freedom. Four scenarios are performed with different internal arm forces with and without an obstacle. The simulation and experiment results are compared with a state-of-the-art adaptive VDC method and show the superiority of the proposed control method.</p>

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Section: Impedance Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Distributed Impedance Control of Coordinated Dissimilar Upper-Limb Exoskeleton Arms

Tahamipour-Z.¹,

Mattila²

2023

Preprint

View full text Add to dashboard Cite

show abstract

“…For instance, a dual-arm ULE assists humans with bimanual tasks to manipulate a heavy object by distributing its load. Many studies have discussed the benefits of bimanual arms and the significance of their control method [2][3][4][5][6]. For example, [2] presented a new control approach for coordinated arms that directs them to grasp moving objects.…”

Section: Introductionmentioning

confidence: 99%

“…For example, [2] presented a new control approach for coordinated arms that directs them to grasp moving objects. In [3], three arms were used for carrying particular objects, such as chairs, that cannot be carried by a single arm due to the payload or workspace limitations. [4] also discussed how multiple arms are able to perform assignments that are not possible for single arms to achieve such as assembly and carrying a heavy object.…”

Section: Introductionmentioning

confidence: 99%

Distributed Control of Coordinated Dissimilar Upper-limb Exoskeleton Robots

Tahamipour-Z.¹,

Mattila²

2022

Preprint

View full text Add to dashboard Cite

<p>Upper-limb exoskeletons (ULEs) have the potential to assist humans to accomplish tasks by distributing a heavy load. ULEs are designed to be comfortable and lightweight wearable robots which has resulted in complexity in their structures, actuators, and power transmissions. Additionally, different ULE vendor structures and biomechanical variations between humans resulted in dissimilar coordinated ULE systems. These complex multi-robot systems can be handled by adaptive virtual decomposition control (VDC) if unknown dynamic models are not considered. Hence, this paper proposes a new distributed framework for the adaptive impedance-based VDC method to the address abovementioned challenges and thereby enhance the system performance and robustness. To that end, the proposed control method has a prediction capability and an ancillary control law for coordinated dissimilar ULEs holding a common object. The system stability is analyzed using the input-to-state stability approach. For validation, the proposed control and a state-of-the-art adaptive VDC methods are implemented on a symmetric bimanual exoskeleton with seven degrees of freedom for each arm. Four bimanual task scenarios are performed with different internal arm forces and with/without an obstacle. The experimental results show the superiority of the proposed control method. </p>

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Synchronous planning of initial and target positions of redundant space manipulator based on deterministic configuration tree

Zhou,

Zhao,

Zhang

2024

Acta Astronautica

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Motion Planning for Closed-Chain Constraints Based on Probabilistic Roadmap With Improved Connectivity

Cited by 21 publications

References 27 publications

Distributed Impedance Control of Coordinated Dissimilar Upper-Limb Exoskeleton Arms

Distributed Impedance Control of Coordinated Dissimilar Upper-Limb Exoskeleton Arms

Distributed Control of Coordinated Dissimilar Upper-limb Exoskeleton Robots

Synchronous planning of initial and target positions of redundant space manipulator based on deterministic configuration tree

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