Title :
Cartesian-space time delay compensation in leader-follower coordination of two manipulators using exponential time functions
Author :
Tumeh, Zuheir S.
Author_Institution :
United Parcel Service Res. & Dev., Danbury, CT, USA
Abstract :
Coordinated control of two manipulators carrying a common object using discrete position feedback is developed and tested using a multiprocessor architecture and two PUMA robot arms. Leader-follower coordination is used because of its computational efficiency. Computation and other timing delays incur the loss of two sampling intervals. A class of predictive filters is designed to compensate for these delays. These filters are developed using the desired positions of the delayed follower arm to estimate a model of its desired trajectory using exponential time functions. Both exact and least square spline fitting are carried out and the performances of the resulting estimators are compared
Keywords :
compensation; delays; discrete systems; feedback; filtering and prediction theory; multiprocessing systems; predictive control; robots; Cartesian-space time delay compensation; PUMA robot arms; computational efficiency; discrete position feedback; exponential time functions; leader-follower coordination; least square spline fitting; manipulator coordination; multiprocessor architecture; predictive filters; Computational efficiency; Computer architecture; Delay effects; Delay estimation; Feedback; Filters; Manipulators; Robot kinematics; Testing; Timing;
Conference_Titel :
Control Applications, 1992., First IEEE Conference on
Conference_Location :
Dayton, OH
Print_ISBN :
0-7803-0047-5
DOI :
10.1109/CCA.1992.269908
