Simulation of cooperating robot manipulators on a mobile platform

This paper proposes an adaptive robust control scheme for an Underwater-Vehicle Manipulator System (UVMS). The proposed controller enables the tracking of the intersection of multiple local sub-regions that are assigned for each subsystem of a UVMS under the influence of modelling uncertainties as well as additive disturbances. The presence of variable ocean currents creates hydrodynamic forces and moments that are not well-known or predictable, even though they are bounded. Therefore, the control task of tracking a prescribed sub-region trajectory is challenging due to these additive bounded disturbances. In the presented adaptive control law, a least-squares estimation algorithm is utilized rather than gradient-type approach. The use of the self-motion due to the kinematically redundant system allows performance of multiple subtasks (e.g., maintaining manipulability and avoidance of mechanical joint limits). The asymptotically sub-region and sub-task tracking are ensured using the proposed control law despite the parametric uncertainty of the UVMS and external additive disturbances. The stability analysis is carried out using the Lyapunov-type approach. The simulation results illustrate the validity of the proposed control scheme.

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“…. Taking into account of (6) and (8) and (11) the following expression relating the generalized end-effector velocity vector can be obtained:…”

Section: Manipulator Kinematic Modelmentioning

confidence: 99%

“…The dynamic equations of motion for a manipulator mounted on a mobile platform were analysed in detail in [11]. In [12] and [13], a similar recursive concept was utilized, where the hydrodynamic effects (added mass, drag, lift, and buoyancy) were included.…”

Section: Dynamic Model Of An Uvmsmentioning

confidence: 99%

Adaptive Robust Tracking Control of an Underwater Vehicle-Manipulator System With Sub-Region and Self-Motion Criteria

Ismail

Dunnigan²

2012

Control and Intelligent Systems

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“…Systems with closed-kinematic loops have also been studied extensively from both simulation [9,10] as well as control for load distribution [11]. The structural stabilization from the closed-kinematic loops is the root cause of the high rigidity and payload capacity.…”

Section: Literature Reviewmentioning

confidence: 99%

Quantitative Performance Analysis of Haptic Devices With Parallelogram Subsystems

Lee

Zhou

Krovi

2011

Volume 6: 35th Mechanisms and Robotics Conference, Parts a and B

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Parallel-architecture haptic devices offer significant advantages over serial-architecture counterparts in applications requiring high stiffness and high accuracy. To this end, many haptic devices have been created and deployed by modularly piecing together several serial-chain arms to form an in-parallel system. Furthermore, recent haptic devices design such as the Sensable’s PHANToM Premium line of haptic devices and Quanser’s High Definition Haptic Device (HD)2 placed the 2nd actuated joint (of a 2-DOF RR serial manipulator) at the base of the device that allowed the control of the 2nd joint through a parallelogram/fourbar structure. This design is favorable from the view point of reducing the overall weight that the first motor has to carry. However, such design choices can affect the overall system performance which depends both on the nature of the individual arms as well as their interactions. In this paper, we build on the rich theoretical background of constrained articulated mechanical systems to provide a systematic framework for formulation of system-level kinematic performance from individual-arm characteristics. Specifically, we discuss: (i) development of pertinent symbolic equations; (ii) generalization to arbitrary architectures; and (iii) combined symbolic/numeric analyses of performance, focusing on manipulability and stiffness. These aspects are illustrated using the example of Quanser High Definition Haptic Device (HD)2 — an in-parallel haptic device formed by coupling two 3-link PHANToM 1.5 type serial chain manipulators with appropriate passive joints.

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“…The inverse kinematics algorithm was devised to exploit the task Jacobians, which are expressed in terms of the Jacobians of single manipulators. Murphy et al [2] described a system of cooperative manipulators as a closed kinematic chain, which allows the use of any solution for the open topological tree of base and manipulator links. Other contributions have been made to trajectory analysis of the time-optimal motion of a multiple-robot system with minimum-time motion planning.…”

Section: Introductionmentioning

confidence: 99%

Virtual-mechanism-based analysis of cooperative manipulation

Liu

Dai²,

et al. 2005

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper proposes a new approach for analysing cooperative manipulation in which cooperative manipulators form a mechanism closure that allows a virtual-mechanismbased analysis to take place. The method is based on the geometry of manipulators during manipulation and converts the cooperative manipulation problem into the analysis of a hypothetical mechanism so that the mechanism theory can be used for the manipulation. This mechanism is hence generated by the fact that the end points (or geometric centres of respective grippers) of cooperative manipulators coincide with a virtual joint during cooperative manipulation. The analysis not only generates positions and orientations of the end effectors of cooperative manipulators but also produces corresponding link configurations that can be used for manipulation planning. The approach is further used for the orientation-based trajectory planning with two different cases. Simulations and discussions are made with respect to cooperative manipulations using two 2R manipulators and one 2R manipulators and one 3R manipulator.

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Simulation of cooperating robot manipulators on a mobile platform

Cited by 8 publications

References 5 publications

Adaptive Robust Tracking Control of an Underwater Vehicle-Manipulator System With Sub-Region and Self-Motion Criteria

Adaptive Robust Tracking Control of an Underwater Vehicle-Manipulator System With Sub-Region and Self-Motion Criteria

Quantitative Performance Analysis of Haptic Devices With Parallelogram Subsystems

Virtual-mechanism-based analysis of cooperative manipulation

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