Hostname: page-component-78c5997874-dh8gc Total loading time: 0 Render date: 2024-11-10T16:28:26.987Z Has data issue: false hasContentIssue false
  • English
  • Français

Rigid Body dynamics and decoupled control architecture for two strongly interacting manipulators

Published online by Cambridge University Press:  09 March 2009

M.A. Unseren
M.A. Unseren
Affiliation:
Oak Ridge National Laboratory, Center for Engineering Systems Advanced Research, Building 6025, MS 6364, P.O. Box 2008, Oak Ridge, TN 37831-6364 (U.S.A.)
Get access Rights & Permissions [Opens in a new window]

Summary

A rigid body dynamical model and control architecture are developed for the closed chain motion of two structurally dissimilar manipulators holding a rigid object in a three-dimensional workspace. The model is first developed in the joint space and then transformed to obtain reduced order equations of motion and a separate set of equations describing the behavior of the generalized contact forces. The problem of solving the joint space and reduced order models for the unknown variables is discussed. A new control architecture consisting of the sum of the outputs of a primary and secondary controller is suggested which, according to the model, decouples the force and position-controlled degrees of freedom during motion of the system. The proposed composite controller enables the designer to develop independent, non-interacting control laws for the force and position control of the complex closed chain system.

Keywords

Two manipulatorsRigid body dynamicsControl architectureReduced order modelComposite controller
Type
Article
Information
Robotica , Volume 9 , Issue 4 , December 1991 , pp. 421 - 430
Copyright
Copyright © Cambridge University Press 1991

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.Weisbin, C.R., Burks, B.L., Einstein, J.R., Feezell, R.R., Manges, W.W. and Thompson, D.H.“HERMIES-III: A Step Toward Autonomous Mobility, Manipulation and Perception” Robotica 8, Part l, 7–12 (01-03 1990).CrossRefGoogle Scholar
2.Luh, J.Y.S. and Zheng, Y.F., “Constrained Relations Between Two Coordinated Industrial Robots For Motion Control” International J. Robotics Research 6, No. 3, 60–70 (Fall, 1987).CrossRefGoogle Scholar
3.Tao, J.M., Luh, J.Y.S. and Zheng, Y.F., “Compliant Coordination Control of Two Moving Industrial Robots,” IEEE Transactions on Robotics and Automation 6, No. 3, 322–330 (06, 1990).CrossRefGoogle Scholar
4.Nakamura, Y., Nagai, K. and Yoshikawa, T., “Dynamics and Stability in Coordination of Multiple Robotic Mechanisms” International J. of Robotics Research 8, No. 2, 44–61 (04, 1989).CrossRefGoogle Scholar
5.Orin, D.E. and Oh, S.Y., “Control of Force Distribution in Robotic Mechanisms Containing Closed Kinematic Chains” ASME J. Dynamic Systems, Measurement and Control 102, 134–141 (07, 1981).CrossRefGoogle Scholar
6.Laroussi, K., Hemami, H. and Goddard, R.E., “Coordination of Two Planar Robots in Lifting,” IEEE J. Robotics and Automation 4, No. 1, 77–85 (02, 1988).CrossRefGoogle Scholar
7.Walker, I.D., Marcus, S.I. and Freeman, R.A., “Distribution of Dynamic Loads for Multiple Cooperating Robot Manipulators” J. Robotic Systems 6, No. 1, 35–47 (01, 1989).CrossRefGoogle Scholar
8.Kreutz, K. and Lokshin, A., “Load Balancing and Closed Chain Multiple Arm Control,” American Control Conference,Atlanta, GA, USA 3, 2148–2155 (06, 1988).CrossRefGoogle Scholar
9.Wen, J.T. and Kreutz, K., “Motion and Force Control For Multiple Cooperative Manipulators” IEEE International Conference on Robotics and Automation,Scottsdale, AZ, USA 2, 1246–1251 (05, 1989).Google Scholar
10.Pittelkau, M.E., “Adaptive Load Sharing Force Control for Two-Arm Manipulators” IEEE International Conference on Robotics and Automation,Philadelphia, PA, USA 1, 498–503 (04, 1988).Google Scholar
11.Hayati, S.A., “Position and Force Control of Coordinated Multiple Arms” IEEE Transactions on Aerospace and Electronic Systems 24, No. 5, 584–590 (09, 1988).CrossRefGoogle Scholar
12.Hayati, S.A., Tao, K.S. and Lee, T.S., “Dual Arm Coordination and Control” Robotics and Autonomous Systems 5, No. 4, pp. 333–344 (12, 1990).CrossRefGoogle Scholar
13.Carignan, C.R. and Akin, D.L., “Optimal Force Distribution for Payload Using a Planar Dual-Arm Robot” ASME J. of Dynamic Systems, Measurement, and Control 111, 205–210 (06, 1989).CrossRefGoogle Scholar
14.Khatib, O., “Object Manipulation in a Multi-Effector Robot System” 4th International Symposium on Robotics Research, University of California at Santa Cruz, 1987 (MIT Press Series on Artificial Intelligence, edited by R. R. Bolles and B. Roth) pp. 137–144.Google Scholar
15.Tarn, T.J., Bejczy, A.K. and Yun, X., “New Nonlinear Control Algorithms for Multiple Robot Arms” IEEE Transactions on Aerospace and Electronic Systems 24, 571–583 (09, 1988).CrossRefGoogle Scholar
16.Alberts, T.E. and Soloway, D.I., “Force Control of a Multi-Arm Robot System” IEEE International Conference on Robotics and Automation,Philadelphia, PA, USA 3, 1490–1496 (04, 1988).Google Scholar
17.Schneider, S.A. and Cannon, R.H. Jr, “Object Impedance Control for Cooperative Manipulation: Theory and Experimental Results” IEEE International Conference on Robotics and Automation,Scottsdale, AZ, USA, 2, 1076–1083 (05, 1989).Google Scholar
18.Kankaanranta, Raimo K. and Koivo, Heikki N., Tampere University of Technology, Tampere, Finland, “Dynamics and Simulation of Compliant Motion of a Manipulator” IEEE J. Robotics and Automation 4, No. 2, 163–173 (04, 1988).CrossRefGoogle Scholar
19.McClamroch, N.H. and Wang, D., “Feedback Stabilization and Tracking of Constrained Robots” IEEE Transactions on Automatic Control, 33, No. 5, 419–426 (05, 1988).CrossRefGoogle Scholar
20.McClamroch, N.H., “Singular Systems of Differential Equations as Dynamic Models for Constrained Robot Systems” IEEE International Conference on Robotics and Automation,San Francisco, CA. USA, 1, 21–28 (04, 1986).Google Scholar
21.Craig, J.J., Introduction to Robotics, Mechanics and Control (Addison-Wesley Publishing Co., 2nd edition, 1989) chap. 11.Google Scholar
22.Whitney, D.E., “Historical Perspective and State of the Art in Robot Force Control” International J., Robotics Research 6, No. 1, 3–14 (Spring, 1987).Google Scholar
23.Unseren, M.A. and Koivo, A.J., “Reduced Order Model and Decoupled Control Architecture for Two Manipulators Holding an Object” Student paper presented at IEEE International Conference on Robotics and Automation,Scottsdale, AZ, USA 2, 1240–1245 (05, 1989).Google Scholar
24.Unseren, M.A., “Modeling and Control of Two Cooperating Manipulators for Assembly Tasks” PhD Thesis (School of Electrical Engineering, Purdue University, West Lafayette, Indiana, USA, 08, 1989).Google Scholar
25.Gantmacher, F.R., Lectures in Analytical Mechanics (Mir Publishers, USSR, 1975).Google Scholar
26.Gantmacher, F.R., The Theory of Matrices, 1, (Chelsea Publishers, London, 1960).Google Scholar