Motion and force control for multiple cooperative manipulatorsThe motion and force control of multiple robot arms manipulating a commonly held object is addressed. A general control paradigm that decouples the motion and force control problems is introduced. For motion control, there are three natural choices: (1) joint torques, (2) arm-tip force vectors, and (3) the acceleration of a generalized coordinate. Choice (1) allows a class of relatively model-independent control laws by exploiting the Hamiltonian structure of the open-loop system; (2) and (3) require the full model information but produce simpler problems. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, the allocation of the desired end-effector control force to the joint actuators can be optimized; otherwise the internal force can be controlled about some set point. It is shown that effective force regulation can be achieved even if little model information is available.
Document ID
19890066073
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Wen, John T. (Rensselaer Polytechnic Institute, Troy, NY, United States)
Kreutz, Kenneth (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
Cybernetics
Meeting Information
Meeting: 1989 IEEE International Conference on Robotics and Automation