Title :
Decentralized position and force control of nonredundant multi-manipulator systems
Author :
Sadati, Nasser ; Ghaffarkhah, Alireza
Author_Institution :
Sharif Univ. of Tech., Tehran
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;
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
DOI :
10.1109/ICCAS.2007.4406702
