DocumentCode
2047768
Title
Control of cooperative manipulators with passive joints
Author
Tinós, Renato ; Terra, Marco Henrique
Author_Institution
Dept. Electr. Eng., Univ. of Sao Paulo, Sao Carlos, Brazil
Volume
2
fYear
2002
fDate
2002
Firstpage
1129
Abstract
The problem of the control of cooperative manipulators with passive joints and are rigidly connected to a solid object is addressed in this paper. Passive joints can appear due to free-swinging joint failures or can be an intrinsic characteristic of the robots. A hybrid control of motion and squeeze force is proposed. For this purpose, a Jacobian matrix relating velocities in the actuated joints and load velocity is obtained based on the kinematic constraints of the cooperative system. Results of the control system applied in simulations and in real robots are presented.
Keywords
Jacobian matrices; cooperative systems; force control; manipulator kinematics; motion control; Jacobian matrix; cooperative manipulators; cooperative system; kinematic constraints; load velocity; motion control; passive joints; squeeze force control; Control systems; Fault tolerance; Force control; Humans; Jacobian matrices; Manipulators; Motion control; Robot kinematics; Robotic assembly; Tin;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2002. Proceedings of the 2002
ISSN
0743-1619
Print_ISBN
0-7803-7298-0
Type
conf
DOI
10.1109/ACC.2002.1023171
Filename
1023171
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