An iterative learning control technique for a dual arm robotic system

Author

Zilouchian, A.

Author_Institution

Dept. of Electr. Eng., Florida Atlantic Univ., Boca Raton, FL, USA

fYear

1994

fDate

8-13 May 1994

Firstpage

1528

Abstract

A multidimensional iterative model for the control analysis of two cooperating robots is proposed. The manipulation of a rigid object with elastic restraint between the object and the end effectors using the proposed model is investigated. The scheme is based on an iterative structure which utilizes available data from the previous operations. These data consist of positions and velocities of the actual trajectories and applied forces to the object at the points of contact. It is shown that the convergence of the actual trajectory for the manipulation of the rigid object to the desired one is guaranteed upon proper selection of two weighted control matrices

Keywords

control system analysis; cooperative systems; iterative methods; learning systems; manipulators; position control; control analysis; convergence; cooperating robots; dual arm robotic system; end effectors; iterative learning control; multidimensional iterative model; rigid object manipulation; weighted control matrices; Arm; Computer aided manufacturing; Control systems; Equations; Force control; Manipulators; Master-slave; Payloads; Redundancy; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Conference_Location

San Diego, CA

Print_ISBN

0-8186-5330-2

Type

conf

DOI

10.1109/ROBOT.1994.351371

Filename

351371