Decentralized position and force control of nonredundant multi-manipulator systems

Author

Sadati, Nasser ; Ghaffarkhah, Alireza

Author_Institution

Sharif Univ. of Tech., Tehran

fYear

2007

fDate

17-20 Oct. 2007

Firstpage

2223

Lastpage

2229

Abstract

In this paper, we propose two fully decentralized adaptive and robust control schemes for combined motion/force control of nonredundant multi-manipulator robotic systems, cooperatively grasping a rigid body in a prespecified position/force trajectory. The precise mathematical analysis of the overall dynamical system and the two proposed control schemes are presented. The controllers are tested and verified via simulation of a cooperative system composed of two PUMA560 manipulators. Also the stability of the overall system is studied.

Keywords

adaptive control; cooperative systems; decentralised control; force control; manipulators; motion control; position control; robust control; PUMA560 manipulators; cooperative system; decentralized adaptive control; decentralized force control; decentralized position control; decentralized robust control; dynamical system; force trajectory; nonredundant multimanipulator robotic system; position trajectory; stability; Adaptive control; Control systems; Cooperative systems; Force control; Manipulators; Mathematical analysis; Programmable control; Robots; Robust control; System testing; Adaptive control; Cooperative robotics; Multi-manipulator robotic systems; Robust control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems, 2007. ICCAS '07. International Conference on

Conference_Location

Seoul

Print_ISBN

978-89-950038-6-2

Electronic_ISBN

978-89-950038-6-2

Type

conf

DOI

10.1109/ICCAS.2007.4406702

Filename

4406702