Real-time computational aspects of multiple manipulator systems

Kircanski, N.; Hui, R.; Shimoga, K.B.; Goldenberg, A.A.

doi:10.1007/bf01258315

Cited by 4 publications

(3 citation statements)

References 18 publications

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“…Using the best-known modem robot control schemes for force control and multiple robot systems such as resolved acceleration control and hybrid impedance control as guidelines, we have shown that in general a capability of nearly 100 MFLOPS is needed if the control law of choice is implemented in a straightforward manner at 1 kHz frequency [15]. By customizing the system model, this computational demand can be reduced to an acceptable level [15].…”

Section: 1 Design Objectivesmentioning

confidence: 97%

“…By customizing the system model, this computational demand can be reduced to an acceptable level [15]. This procedure involves combining the decomposition of sparse quasi-diagonal matrices into matrices of lower dimensions and the customization technique developed for single-arm robot models.…”

Section: 1 Design Objectivesmentioning

confidence: 99%

“…and 200 ps U 0 latency in each sampling period. Strictly from the perspective of computational power, there are many FUSC co-processors and DSP's on the market that can deliver more than 10 MFLOPS per second [15] and, consequently, control more than 16 d.o.f. 's in total.…”

Section: 1 Design Objectivesmentioning

confidence: 99%

See 2 more Smart Citations

Design of the IRIS facility-a modular, reconfigurable and expandable robot test bed

Hui¹,

Kircanski²,

Goldenberg³

et al.

[1993] Proceedings IEEE International Conference on Robotics and Automation

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A B S T R A C TThe IRIS Facility is a modular, reconfigurable and expandable robot system to be used for experiments in grasping, manipulation and force control. The baseline layout of the Facility will have two manipulators with four rotary joints each. Each manipulator can be easily disassembled and reassembled to assume a multitude of configurations. Each joint is driven by d.c. brushless motors coupled with harmonic cup drives and instrumented with position, and torque sensors. A six d.0.J forcdtorque sensor is mounted at the tip link. Additional manipulators with different joint layouts will be added in the future.The real-time controller of the IRIS Faciliry has also been designed to be modular and expandable. It is based on a nodal architecture with a PC-486 host and an AMD29050 co-processor as the CPU of each secondary node. Each node is capable of controlling 8 joints at I kHz while executing over lo00 FP (Floating Point) operations per joint in each sampling interval. This paper describes the design of the IRIS Facility and its functional capabilities. I n addition, the rationale behind the major design decisions is given.

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Section: 1 Design Objectivesmentioning

confidence: 97%

Section: 1 Design Objectivesmentioning

confidence: 99%

See 1 more Smart Citation

Design of the IRIS facility-a modular, reconfigurable and expandable robot test bed

Hui¹,

Kircanski²,

Goldenberg³

et al.

[1993] Proceedings IEEE International Conference on Robotics and Automation

Self Cite

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Adaptive control of redundant multiple robots in cooperative motion

Zribi

Ahmad²,

Luo³

1996

J Intell Robot Syst

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A redundant robot has more degrees of freedom than what is needed to uniquely position the robot end-effector. In practical applications the extra degrees of fieedom increase the orientation and reach of the robot. The load carrying capacity of a single robot can be increased by cooperative manipulation of the load by two or more robots. In this paper we develop an adaptive control scheme for kinematically redundant multiple robots in cooperative motion.In a usual robotic task, only the end-effector position trajectory is specified The joint position trajectory will therefore be unknown, for a redundant multirobot system and it must be selected from a self-motion manifold for a specified end-effector or load motion. We show that the adaptive conuol of cooperative multiple redundant robots can be addressed as a reference velocity tracking problem in the joint space. A stable adaptive velocity control law is derived it ensures bounded parameter convergence, exponential convergence to zero of the load position error, the internal force error and the reference velocity error. The individual robot joint motions is shown to be stable by decomposing the joint coordinates into two variables one which is homeomorphic to the load coordinated, the other to the coordinates of the self-motion manifold. The dynamics on the self-motion manifold is directly shown to be related to the concept of zero-dynamics. It is shown that if the reference joint trajectory is selected to optimize a certain type of objective functions, then stable dynamics on the self-motion manifold results. The overall stability of the joint angle is established from the stability of two cascaded dynamic systems involving the two decomposed co0rdlIliltes.

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A RISC processor based architecture for control and evaluation of grasping and manipulation with dexterous hands

Kircanski¹,

Goldenberg²,

Zhou³

Proceedings of IEEE Pacific Rim Conference on Communications Computers and Signal Processing

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This paper describes the computer architecture for the IRIS Facility, currently under development at the Robotics and Automation Laboratory at the Universily of Toronto. IRIS Facility is a versatile, multi-degree-offreedom reconfigurable and eqmdable setup for research in grasping and manipulation. The proposed computer architecture involves powerful I O MFLOPS RISC processor nodes and a fast point-to-point communication network Each node includes a host coquter and parallel U0 modules as well. The nodes are controlled by nearly zero-overhead customized real-time OS krnels responsible for task scheduling, communication and user-interface.

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Real-time computational aspects of multiple manipulator systems

Cited by 4 publications

References 18 publications

Design of the IRIS facility-a modular, reconfigurable and expandable robot test bed

Design of the IRIS facility-a modular, reconfigurable and expandable robot test bed

Adaptive control of redundant multiple robots in cooperative motion

A RISC processor based architecture for control and evaluation of grasping and manipulation with dexterous hands

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