Title :
Nonlinear control of dual-robot pushing and pulling with force regulation
Author :
Tarn, T.J. ; Xi, Ning ; Ramadorai, A.K.
Author_Institution :
Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
Abstract :
In this paper nonlinear control problems in dual-robot cooperation are discussed. First the effect of joint motor dynamics on the force control is discussed. Using the joint position, joint velocity and wrist force/torque sensor measurements a task-level nonlinear controller is formulated with the consideration of joint motor dynamics. Several important issues related to the practical implementation of the nonlinear control method are also addressed. Finally, the experimental results of single arm contact control as well as dual-arm pushing and pulling are used to further illustrate the points discussed in this paper
Keywords :
cooperative systems; force control; manipulator dynamics; nonlinear control systems; position control; position measurement; velocity measurement; dual-robot pulling; dual-robot pushing; force regulation; joint motor dynamics; joint position; joint velocity; nonlinear control; single arm contact control; task-level nonlinear controller; wrist force/torque sensor measurements; Automatic control; Force control; Force feedback; Force sensors; Motion control; Robot kinematics; Robot sensing systems; Torque control; Velocity control; Wrist;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.479241
