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Decentralized impedance control of nonredundant multi-manipulator systems

Sadati, N ; Sharif University of Technology | 2008

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  1. Type of Document: Article
  2. DOI: 10.1109/ICNSC.2008.4525211
  3. Publisher: 2008
  4. Abstract:
  5. In this paper, we propose a decentralized control scheme for combined motion/force control of nonredundant multi-manipulator robotic systems, cooperatively grasping a rigid body in a prespecifled position/force trajectory. The proposed control scheme uses the impedance method for modeling the internal force exerted by the end effectors to the object. The precise mathematical analysis of the overall dynamical system and the proposed controller are presented and the stability of the overall system is studied. The proposed controller, then, is applied to a cooperative system composed of two PUMA560 manipulators and the simulation results are presented to verify the proposed control scheme
  6. Keywords:
  7. Dynamical systems ; Manipulators ; Schrodinger equation ; System stability ; Control schemes ; Cooperative systems ; End effectors ; Impedance control ; Impedance method ; Internal forces ; International conferences ; Manipulator systems ; Mathematical analyses ; Rigid bodies ; Robotic systems ; Simulation results ; Control systems
  8. Source: 2008 IEEE International Conference on Networking, Sensing and Control, ICNSC, Sanya, 6 April 2008 through 8 April 2008 ; 2008 , Pages 206-211 ; 9781424416851 (ISBN)
  9. URL: https://ieeexplore.ieee.org/document/4525211