Hostname: page-component-78c5997874-94fs2 Total loading time: 0 Render date: 2024-11-10T14:46:10.919Z Has data issue: false hasContentIssue false
  • English
  • Français

A control architecture for a mobile heavy-lift precision manipulator with limited sensory information

Published online by Cambridge University Press:  01 March 2007

William Becker ,
Matthew DiCicco ,
Justin Garretson  and
Steven Dubowsky
William Becker
Affiliation:
Mechanical Engineering Field and Space Robotics Laboratory, Massachusetts Institute of Technology, Room 3–469, 77 Massachusetts Ave., 02139, Cambridge, MA, USA
Matthew DiCicco
Affiliation:
Mechanical Engineering Field and Space Robotics Laboratory, Massachusetts Institute of Technology, Room 3–469, 77 Massachusetts Ave., 02139, Cambridge, MA, USA
Justin Garretson
Affiliation:
Mechanical Engineering Field and Space Robotics Laboratory, Massachusetts Institute of Technology, Room 3–469, 77 Massachusetts Ave., 02139, Cambridge, MA, USA
Steven Dubowsky*
Affiliation:
Mechanical Engineering Field and Space Robotics Laboratory, Massachusetts Institute of Technology, Room 3–469, 77 Massachusetts Ave., 02139, Cambridge, MA, USA
*
*Corresponding author: E-mail: dubowsky@mit.edu
Get access Rights & Permissions [Opens in a new window]

Summary

Mobile robotic manipulators can augment the strength and dexterity of human operators in unstructured environments. Here, the control system for a six degree-of-freedom heavy-lift mobile manipulator for lifting and inserting payloads on the deck of a ship is described. The robotic hardware and the application present several control challenges, including structural resonances, high joint friction that varies with time, limited sensors for measuring the joint friction, complex interaction with the environment, tight tolerances for the insertion tasks, lack of bilateral force feedback of the contact forces, and ship motions. The control system enables an operator to perform insertion tasks using feedback of tactile clues of the manipulator position, and reduces the effects of friction with a combination of sensor-based, adaptive, and model-based methods of friction compensation. The control architecture is validated in simulation and on a laboratory manipulator.

Keywords

ManipulatorAdaptive friction compensationForce controlTeleoperationExtenderExoskeletonInsertion
Type
Article
Information
Robotica , Volume 25 , Issue 2 , March 2007 , pp. 221 - 235
Copyright
Copyright © Cambridge University Press 2007

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

1.Armstrong, B., Dupont, P. and Canudas-de-Wit, C., “A survey of models, analysis tools and compensation methods for the control of machines with friction,” Automatica 30 (7), 1083–1138 (Jul. 1994.CrossRefGoogle Scholar
2.Gomes, S. and Santos da Rosa, V., “A New Approach to Compensate Friction in Robotic Actuators,” Proceedings of the ICRA ‘03 IEEE International Conference on Robotics and Automation 1, Sep. 14–19, (2003), pp. 622–627.CrossRefGoogle Scholar
3.Moreno, J., Kelly, R. and Campa, R., “Manipulator Velocity Control using Friction Compensation,” IEE Proceedings on Control Theory Applications 150 (2), (Mar. 2003, pp. 119–126.CrossRefGoogle Scholar
4.Olsson, H., Astrom, K., Canudas-de-Wit, C., Gafvert, M. and Lichinsky, P., “Friction models and friction compensation,” Eur. J. Control 4 (3), (1998), pp. 176–195.CrossRefGoogle Scholar
5.Canudas deWit, C. and Lischinsky, P., “Adaptive friction compensation with partially known dynamic friction model,” Int. J. Adaptive Control Signal Process. 11, 65–80 (1997).Google Scholar
6.Friedland, B. and Mentzelopoulou, S., “On Estimation of Dynamic Friction,” Proceedings of the 32nd Conference on Decision and Control 2, Dec. 15–17, (1993), pp. 1919–1924.CrossRefGoogle Scholar
7.Henrichfreise, H. and Witte, C., “Experimental results with observer-based nonlinear compensation of friction in a positioning system,” IEEE Int. Conf. Robot. Autom. 1, 16–20 May (1998).Google Scholar
8.Kim, H., Cho, Y. and Lee, K., “Robust Nonlinear Task Space Control for a 6 DOF Parallel Manipulator,” Proceedings of the 41st IEEE Conference on Decision and Control 2 Dec. 10–13, (2002).Google Scholar
9.Lischinsky, P., Canudas-de-Wit, C. and Morel, G., “Friction Compensation of a Schilling Hydraulic Robot,” Proceedings of the 1997 IEEE International Conference on Control Applications Oct. 5–7, (1997), pp. 294–299.CrossRefGoogle Scholar
10.Whitcomb, L., Arimoto, S., Naniwa, T. and Ozaki, F., “Adaptive model-based hybrid control of geometrically constrained robot arms,” IEEE Trans. Robot. Autom. 13 (1), (Feb. 1997, pp. 49–57.CrossRefGoogle Scholar
11.Niemeyer, G. and Slotine, J., “Performance in Adaptive Manipulator Control,” Proceedings of the 27th IEEE Conference on Decision and Control 2 (7–9), Dec. (1988) pp. 1585–1591.CrossRefGoogle Scholar
12.Luh, J., Fisher, W. and Paul, R., “Joint torque control by direct feedback for industrial robots,” IEEE Trans. Autom. Control 28 (1), (Feb. 1983.CrossRefGoogle Scholar
13.Pfeffer, L., Khatib, O. and Hake, J., “Joint torque sensory feedback of a PUMA manipulator,” IEEE Trans. Robot. Autom. 5 (4), 418–425 (1989).CrossRefGoogle Scholar
14.Iagnemma, K., Manipulator Identification and Control Using a Base-Mounted Force/Torque Sensor Master's Thesis (Department of Mechanical Engineering, MIT, (1997).Google Scholar
15.Morel, G., Iagnemma, K. and Dubowsky, S., “The precise control of manipulators with high joint-friction using base force/torque sensing,” Automatica: J. Int. Fed. Autom. Control 36 (7), 931–941 (2000).CrossRefGoogle Scholar
16.Asada, H. and Slotine, J. E., Robot Analysis and Control (Wiley-IEEE, New York, 1986).Google Scholar
17.Whitney, D. E., “Resolved motion rate control of manipulators and human prostheses,” IEEE Trans. Man-Mach. Syst. MMS-10 (2) (Jun. 1969, pp. 47–53.Google Scholar
18.Slotine, J. E., “Robust control of robot manipulators,” Int. J. Robot. Res. 4 (2), 49–64 (1985).CrossRefGoogle Scholar
19.Craig, J. J., Hsu, P. and Sastry, S. S., “Adaptive Control of Mechanical Manipulators,” Proceedings of the 1986 IEEE International Conference on Robotics and Automation 3, Apr. (1986), pp. 190–195.CrossRefGoogle Scholar
20.Slotine, J. E. and , W. Li., “On the adaptive control of robot manipulators,” Int. J. Robot. Res. 6 (3), 49–59 (1987).CrossRefGoogle Scholar
21.Seraji, H., “An On-Line Approach to Coordinated Mobility and Manipulation,” Proceedings of the 1993 IEEE International Conference on Robotics and Automation 1, May (1993), pp. 28–35.CrossRefGoogle Scholar
22.Yamamoto, Y. and Yun, X., “Effect of the dynamic interaction on coordinated control of mobile manipulators,” Proceedings of the IEEE Transactions on Robotics and Automation 12 (5), Oct. (1996), pp. 816–824.CrossRefGoogle Scholar
23.Chiaverini, S., Siciliano, B. and Villani, L., “A survey of robot interaction control schemes with experimental comparison,” IEEE/ASME Trans. Mechatron. 4 (3), 273–285 (Sep. 1999.CrossRefGoogle Scholar
24.Hogan, N., “Impedance control: an approach to manipulation: parts 1–3: theory, implementation, and applications,” J. Dyn. Syst., Meas. Control 107, 1–24 (1985).CrossRefGoogle Scholar
25.Volpe, R. and Khosla, P., “Analysis and experimental verification of a fourth order plant model for manipulator force,” IEEE Robot. Autom. Mag. 4–13 (1994).CrossRefGoogle Scholar
26.Anderson, R. J. and Spong, M. W., “Bilateral control of teleoperators with time delay,” IEEE Trans. Autom. Control 34 (5), (May (1989), 494–501.CrossRefGoogle Scholar
27.Hastrudi-Zaad, K. and Salcudean, S. E., “On the use of local force feedback for transparent teleoperation,” Proceedings of the 1999 IEEE International Conference on Robotics and Automation 3, (1999) pp. 1863–1869.Google Scholar
28.Deeter, T., Koury, G., Rabideau, K., Leahy, M. and Turner, T., “The next generation munitions handler advanced technology demonstrator program,” Proceedings of the 1997 IEEE International Conference on Robotics and Automation vol. 1, (1997) pp. 341–345.Google Scholar
29.Draper, J. V., Pin, F. G., Rowe, J. C. and Jansen, J. F., “Next generation munitions handler: human-machine interface and preliminary performance evaluation,” ORNL/CP-101966 Apr. (1999).Google Scholar
30.Jacobsen, S. C., McCammon, I. D., Biggers, K. B. and Phillips, R. P., “Tactile sensing system design issues in machine manipulation,” IEEE 2087–2096 (1987).Google Scholar
31.Kazerooni, H., “Extender: A Case Study for Human-Robot Interaction via Transfer of Power and Information Signals,” Proceedings of theIEEE International Workshop on Robot and Human Communication (1993) pp. 10–20.Google Scholar
32.Kazerooni, H. and Her, M. G., “The dynamics and control of a haptic interface device,” IEEE Trans. Robot. Autom. 10 (4)453–464 (1994).CrossRefGoogle Scholar
33.Kazerooni, H., Tsay, T. L. and Hollerbach, K., “A controller design framework for telerobotic systems,” IEEE Trans. Control Syst. Technol. 1 (1)50–62 (1993).CrossRefGoogle Scholar
34.Love, L., Jansen, J. and Pin, F., “On the Modeling of Robots Operating on Ships,” Proceedings of the 2004 IEEE International Conference on Robotics and Automation 3, Apr. 26–May 1, (2004) pp. 2436–2443.CrossRefGoogle Scholar
35.Love, L., Jansen, J. and Pin, F., “Compensation of waveinduced motion and force phenomena for ship-based high performance robotic and human amplifying systems,” ORNL/TM-2003/233. Oct. (2003).CrossRefGoogle Scholar
36.Garretson, J., High-Precision Control of a Heavy-Lift Manipulator in a Dynamic Environment, Master's Thesis (Mechanical Engineering Dept., Massachusetts Institute of Technology, (2005).Google Scholar
37., H. Yu, Mobility Design and Control of Personal Mobility Aids for the Elderly, Ph. D. Thesis (Mechanical Engineering Dept., Massachusetts Institute of Technology (2002).Google Scholar
38.DiCicco, M., Force Control of Heavy Lift Manipulators for High Precision Insertion Tasks, Master's Thesis (Mechanical Engineering Dept. Massachusetts Institute of Technology, (2005).Google Scholar
39.Eppinger, S. and Seering, W., “Introduction to dynamic models for robot force control,” IEEE Control Syst. Mag. 48–52 (1987).CrossRefGoogle Scholar
40.Friedland, B. and Park, Y., “On adaptive friction compensation,” IEEE Trans. Autom. Control 37 (10), 1609–1612 (Oct. 1992.CrossRefGoogle Scholar
41.Becker, W., The Design of a Control Architecture for a Heavy-Lift Precision Manipulator for Use in Contact With the Environment, Master's Thesis (Mechanical Engineering Dept., Massachusetts Institute of Technology (2006).Google Scholar