Title :
Impact model and control of two cooperating planar manipulators
Author :
Indri, Marina ; Tornambé, Antonio
Author_Institution :
Dipt. di Autom. e Inf., Politecnico di Torino, Italy
Abstract :
The problem of modelling and controlling the impact between the end-effecters of two cooperating planar two-link manipulators is considered. The motion equations of the robots are determined both in the contact condition and in the non-contact one. The proposed control scheme allows the global asymptotic regulation of the robot arms to a desired configuration, with a prescribed contact force, by utilizing the estimate of the impact-induced forces provided by reduced-order observers. Simulation results confirm the theoretical effectiveness of the proposed algorithm
Keywords :
asymptotic stability; closed loop systems; manipulator dynamics; motion control; observers; reduced order systems; closed loop systems; cooperating planar manipulators; end-effecters; impact control; impact model; modelling; motion control; reduced-order observers; symptotic stability; two-link manipulators; Automatic control; Collision avoidance; Control systems; Equations; Force control; Gravity; Manipulators; Motion control; Orbital robotics; Robot kinematics;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.611763
