Title :
Reduced order model and decoupled control architecture for two manipulators holding an object
Author :
Unseren, M.A. ; Koivo, A.J.
Author_Institution :
Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
Abstract :
A dynamical model and a control architecture are developed for the closed-chain motion of two N-joint manipulators holding a rigid object in a three-dimensional workspace. Dynamic and kinematic constraints are determined and combined with the equations of motion of the manipulators to obtain a dynamical model of the entire system in the joint space. Reduced-order equations of motion and a functional relation for the generalized contact forces are developed. The problem of solving the reduced-order model for the forward and inverse dynamics is discussed. Control laws are determined so as to decouple the force-controlled and position-controlled degrees of freedom during motion of the system
Keywords :
dynamics; kinematics; robots; N-joint manipulators; closed-chain motion; decoupled control architecture; dynamic constraints; dynamical model; equations of motion; force-controlled degrees of freedom; inverse dynamics; kinematic constraints; position-controlled degrees of freedom; reduced-order model; three-dimensional workspace; Assembly; Equations; Force control; Force feedback; Force sensors; Lagrangian functions; Manipulator dynamics; Motion control; Reduced order systems; Robot kinematics;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100150
