Analysis of a task-space regulator for cooperative manipulators

Author

Caccavale, F. ; Chiacchio, P. ; Chiaverini, S.

Author_Institution

Dipt. di Inf. e Sistemistica, Naples Univ., Italy

Volume

3

fYear

1999

fDate

1999

Firstpage

1945

Abstract

A system of two cooperative manipulators tightly grasping a rigid object is considered. Based on a suitable formulation of the cooperative task space, a regulation scheme has been previously proposed, which is based on the design of an individual regulator for each manipulator. Each regulator is designed according to the concept of kinetostatic filtering. In order to avoid the occurrence of representation singularities, the orientation errors are computed by using the unit quaternion. The analysis of the equilibria of the resulting closed-loop system is provided and its asymptotic stability is demonstrated via Lyapunov-like analysis

Keywords

Jacobian matrices; Lyapunov methods; asymptotic stability; control system analysis; cooperative systems; force control; manipulator dynamics; manipulator kinematics; multi-robot systems; position control; two-term control; Lyapunov-like analysis; cooperative manipulators; kinetostatic filtering; orientation errors; rigid object; task-space regulator; unit quaternion; Cooperative systems; End effectors; Filtering; Force control; Force feedback; Kinematics; Motion control; Quaternions; Regulators; Steady-state;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1999. Proceedings of the 1999

Conference_Location

San Diego, CA

ISSN

0743-1619

Print_ISBN

0-7803-4990-3

Type

conf

DOI

10.1109/ACC.1999.786200

Filename

786200