On the Control of Cooperative Robots Without Velocity Measurements

Gudiño-Lau, Jorge; Arteaga, Marco A.; Muñoz, Lara; Parra-Vega, Vicente

doi:10.1109/tcst.2004.824965

Cited by 47 publications

(38 citation statements)

References 9 publications

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“…This observer is simpler than the one given in (Gudiño-Lau et al 2004), where the inverse of the inertia matrix and force measurements are required. Since from (58) you have ˆq= q -z -z…”

Section: Observer Definitionmentioning

confidence: 99%

“…However, recent experimental results have shown that a (digitalized) observer in a control law performs better (Arteaga & Kelly 2004). Thus, in Gudiño-Lau et al (Gudiño-Lau et al 2004) a decentralized control algorithm for cooperative manipulators (or robot hands) which achieves asymptotic stability of tracking of desired positions and forces by using an observer is given. In this work, a new control law based on a force filter is presented.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Dynamic Model, Control and Simulation of Cooperative Robots: A Case Study

Gudiño-Lau¹,

Arteaga²,

Electromecánica³

2006

Mobile Robotics, Moving Intelligence

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“…This observer is simpler than the one given in (Gudiño-Lau et al 2004), where the inverse of the inertia matrix and force measurements are required. Since from (58) you have ˆq= q -z -z…”

Section: Observer Definitionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic Model, Control and Simulation of Cooperative Robots: A Case Study

Gudiño-Lau¹,

Arteaga²,

Electromecánica³

2006

Mobile Robotics, Moving Intelligence

View full text Add to dashboard Cite

“…The control algorithm takes into account both robot and object model-parameter uncertainties, and it has a similar structure compared with those given in previous studies [22][23][24] in the sense that the orthogonalization principle has been used. In this work, we propose a decentralized adaptive hybrid position/force control for 2 robot manipulators handling a rigid object.…”

Section: Introductionmentioning

confidence: 99%

On the adaptive control of cooperative robots with time‐variant holonomic constraints

Pliego‐Jiménez¹,

Arteaga²

2017

Adaptive Control & Signal

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In this work, we consider the problem of 2 robots handling a rigid object, while model-parameter uncertainties are assumed. It is also assumed that the manipulators can push but not pull the object. Several control schemes proposed in the literature attempt to control the position of the object rather than its orientation. However, many industrial tasks require to move and to rotate the object. To this end, we propose an adaptive hybrid position/force control law based on time-variant holonomic constraints, which allow for object position and orientation control. Our approach guarantees that the force error asymptotically converges to 0; therefore, a stable grasp can be accomplished by means of a proper definition of the desired pushing force. In addition, a dynamic model of the cooperative system based on the load distribution and joint-space orthogonalization principles is developed. Experimental results are presented to validate the proposed dynamic model and control scheme.Consider the following auxiliary theorem: Theorem 2. 31 Let ⊂ ℜ n be a domain containing y = 0 and suppose f(t, y) is piecewise continuous in t and locally Lipschitz in y,J 1 (2, 1) = 11 c(q 11 ), J 1 (2, 2) = 21 c(q 21 ),For the matrix J 2 = J c2 J m2 , we haveJ 2 (2, 1) = 21 c(q 21 ) + 22 c(q 22 ) + ( 32 − r cx2 )c( 2 ) + r cy2 s( 2 ), J 2 (2, 2) = 22 c(q 22 ) + ( 32 − r cx2 )c( 2 ) + r cy2 s( 2 ), J 2 (2, 3) = ( 32 − r cx2 )c( 2 ) + r cy2 s( 2 ), J 2 (3, 1) = 1, J 2 (3, 2) = 1, J 2 (3, 3) = 1.

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“…Through the use of self-recurrent wavelet neural networks, an adaptive observer [19] was proposed to estimate the actuator and link velocity information of a flexible-joint electrically-driven robot and the position tracking of the link was achieved. In [20], for the purpose of avoiding the installation of many sensors on the small mechanical structure in the traditional control methods, the feasibility of avoiding velocity measurements to control dexterous robots was analyzed. Similarly, in the field of robot assembly, Park [21] designed a quasi-static modal filter to estimate the fast time-varying vibration for the synchronous control of the static shape deformation and vibration of flexible load.…”

Section: Introductionmentioning

confidence: 99%

Two-Time Scale Virtual Sensor Design for Vibration Observation of a Translational Flexible-Link Manipulator Based on Singular Perturbation and Differential Games

Wang

et al. 2016

Sensors

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Effective feedback control requires all state variable information of the system. However, in the translational flexible-link manipulator (TFM) system, it is unrealistic to measure the vibration signals and their time derivative of any points of the TFM by infinite sensors. With the rigid-flexible coupling between the global motion of the rigid base and the elastic vibration of the flexible-link manipulator considered, a two-time scale virtual sensor, which includes the speed observer and the vibration observer, is designed to achieve the estimation for the vibration signals and their time derivative of the TFM, as well as the speed observer and the vibration observer are separately designed for the slow and fast subsystems, which are decomposed from the dynamic model of the TFM by the singular perturbation. Additionally, based on the linear-quadratic differential games, the observer gains of the two-time scale virtual sensor are optimized, which aims to minimize the estimation error while keeping the observer stable. Finally, the numerical calculation and experiment verify the efficiency of the designed two-time scale virtual sensor.

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On the Control of Cooperative Robots Without Velocity Measurements

Cited by 47 publications

References 9 publications

Dynamic Model, Control and Simulation of Cooperative Robots: A Case Study

Dynamic Model, Control and Simulation of Cooperative Robots: A Case Study

On the adaptive control of cooperative robots with time‐variant holonomic constraints

Two-Time Scale Virtual Sensor Design for Vibration Observation of a Translational Flexible-Link Manipulator Based on Singular Perturbation and Differential Games

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