Hostname: page-component-cd9895bd7-q99xh Total loading time: 0 Render date: 2024-12-24T00:09:03.506Z Has data issue: false hasContentIssue false
  • English
  • Français

Local joint control in cooperating manipulator systems - force distribution and global stability

Published online by Cambridge University Press:  09 March 2009

Greg R. Luecke  and
John F. Gardner
Greg R. Luecke
Affiliation:
Department of Mechanical Engineering, Iowa State University, Ames, IA 50011 (USA).
John F. Gardner
Affiliation:
Department of Mechanical Engineering, The Pennsylvania State University, University Park, PA 16802 (USA.
Get access Rights & Permissions [Opens in a new window]

Summary

Almost all industrial robot applications in use today are controlled using a control law that is simple and computationally efficient, local joint error feedback. When two or more open chain manipulators cooperate to manipulate the same object - such as in mechanical grippers, walking machines, and cooperating manipulator systems - closed kinematic chain, redundantly actuated mechanisms are formed. Control approaches for this type of system focus on the more computationally intensive computed torque or inverse plant control laws, due to the concern over instability caused by the unspecified distribution of control forces in the redundant actuator space, and due to the constrained motion caused by the closed kinematic chains.

Keywords

Co-operating robotsLocal joint controlForce distributionGlobal stabilityClosed chain manipulators.
Type
Research Article
Information
Robotica , Volume 11 , Issue 2 , March 1993 , pp. 111 - 118
Copyright
Copyright © Cambridge University Press 1993

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Asada, H. & Slotine, J.J.E., Robot Analysis and Control (1st ed.) (John Wiley & Sons, New York, 1986).Google Scholar
Clark, C.J. & Stark, L., A Comparison of Control Laws for a Cooperative Robot System Proc 1986 IEEE Intl. Conf. Rob. Auto.(1986) 1, 390–394.Google Scholar
Eppinger, S.D. & Seering, W.P., Introduction to Dynamic Models for Robot Force Control IEEE Cont. Sys. Mag. 7, No. 2, 48–52 (04, 1987)CrossRefGoogle Scholar
Khosla, P.K. & Kanade, T., Experimental Evaluation of Nonlinear Feedback and Feedforward Control Schemes for Manipulators Int. J. Rob. Res. 7,18–28 (02, 1988).CrossRefGoogle Scholar
Luecke, G.R. & Gardner, J.F., The Force Distribution Solution In Redundantly Actuated, Closed Chain Mechanisms Under Local Joint Control (Submitted to IEEE J. Rob. & Auto., 1992).Google Scholar
Lozano-Perez, T., Spatial Planning—A Configuration Space Approach IEEE Trans. Comp. C-32, No. 2, 108–120 (February, 1985).CrossRefGoogle Scholar
Khatib, O., A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation IEEE J. Rob. Autom. RA-3, No. 1, 43–53 (February, 1987).CrossRefGoogle Scholar
Kumar, V. & Gardner, J. F., Kinematics of Redundantly Actuated Closed Chains IEEE Trans. Rob. Autom. 6, No. 2, 269–274 (04, 1990).CrossRefGoogle Scholar
Craig, J.J., Adaptive Control of Mechanical Manipulators (Addison-Wesley, Reading, MA, 1988).Google Scholar
LaSalle, J. & Lefschetz, S., Stability by Liapunov's Direct Method (Academic Press, New York, 1961).Google Scholar