Virtual decomposition based coordinative control of multirobots

Author

Zhu, Wen-Hong ; Xi, Yu-Geng ; Zhang, Zhong-jun

Author_Institution

Dept. of Autom. Control, Shanghai Jiaotong Univ., China

fYear

1994

fDate

5-9 Dec 1994

Firstpage

626

Lastpage

630

Abstract

In this paper, a virtual decomposition based control scheme is presented for multirobots. The motion control problem of the original system is converted to each rigid body and joint, respectively. The constraint force and the internal force control can be performed with respect to the held object only. The finger tip is considered as an unactuated joint at which the force constraint problem can be solved by releasing some degrees of freedom of the required internal force. Asymptotic stability of both motion and internal force is ensured based on Lyapunov analysis

Keywords

Lyapunov methods; asymptotic stability; dynamics; kinematics; manipulators; motion control; Lyapunov analysis; asymptotic stability; constraint force control; coordinative control; force constraint problem; internal force control; motion control; multirobots; virtual decomposition; Actuators; Asymptotic stability; Automatic control; Control systems; Force control; Motion analysis; Motion control; Motion planning; Nonlinear dynamical systems; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 1994., Proceedings of the IEEE International Conference on

Conference_Location

Guangzhou

Print_ISBN

0-7803-1978-8

Type

conf

DOI

10.1109/ICIT.1994.467067

Filename

467067