A control system for cooperating tentacle robots

Author

Ivanescu, M. ; Stoian, V.

Author_Institution

Dept. of Autom. & Comput., Craiova Univ., Romania

Volume

2

fYear

1998

Firstpage

1540

Abstract

A control system is proposed to solve the local control for a multi-chain robotic system formed by tentacle manipulators grasping a common object with hard point contacts. The two-level hierarchical control is adopted. The upper level coordinator gathers all the necessary information to resolve the force distribution. The lower-level local control problem is then treated as an open-chain redundant manipulator control problem. A closed loop control based on the inverse dynamic model and the DSMC procedure are proposed. The fuzzy rules are established. Simulation results are presented and discussed

Keywords

closed loop systems; cooperative systems; fuzzy control; hierarchical systems; manipulator dynamics; manipulator kinematics; variable structure systems; closed loop systems; cooperating tentacle robots; fuzzy control; grasping; hard point contacts; inverse dynamic model; kinematics; multiple chain robotic system; redundant manipulator; sliding mode control; two-level hierarchical control; Automatic control; Control systems; Fuzzy control; Inverse problems; Manipulator dynamics; Motion control; Open loop systems; Robot kinematics; Robotics and automation; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.677341

Filename

677341