抄録
This paper presents a control strategy for N robot arms cooperating through a flexible object. The dynamic equations of the system under consideration are described, with position and force parameters being considered in an extended 6N-dimensional space. The control strategy is based on the decomposition of the position and the force parameters. The strategy includes feedforward and feedback levels, which take into account the object compliance. The force and the moments applied to the object by manipulators as well as the end-point accelerations are considered to be the control inputs for the Cartesian-level control system. The feedback level includes the nonlinear decoupling control law to ensure the tracking of the object trajectories in the position and the force spaces. To damp out the object oscillations, an additional control input, which is added to the prespecified internal forces, is introduced. The applicability of the control strategy is tested under a case study.
| 元の言語 | 英語 |
|---|---|
| ページ | 685-690 |
| ページ数 | 6 |
| 出版物ステータス | 出版済み - 12 1 1994 |
| イベント | Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3) - Bologna, Italy 継続期間: 9 5 1994 → 9 9 1994 |
その他
| その他 | Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3) |
|---|---|
| 市 | Bologna, Italy |
| 期間 | 9/5/94 → 9/9/94 |
Fingerprint
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Electrical and Electronic Engineering
これを引用
Coordination strategy for a system of manipulators coupled via a flexible object. / Svinin, M. M.; Uchiyama, M.
1994. 685-690 論文発表場所 Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3), Bologna, Italy, .研究成果: 会議への寄与タイプ › 論文
}
TY - CONF
T1 - Coordination strategy for a system of manipulators coupled via a flexible object
AU - Svinin, M. M.
AU - Uchiyama, M.
PY - 1994/12/1
Y1 - 1994/12/1
N2 - This paper presents a control strategy for N robot arms cooperating through a flexible object. The dynamic equations of the system under consideration are described, with position and force parameters being considered in an extended 6N-dimensional space. The control strategy is based on the decomposition of the position and the force parameters. The strategy includes feedforward and feedback levels, which take into account the object compliance. The force and the moments applied to the object by manipulators as well as the end-point accelerations are considered to be the control inputs for the Cartesian-level control system. The feedback level includes the nonlinear decoupling control law to ensure the tracking of the object trajectories in the position and the force spaces. To damp out the object oscillations, an additional control input, which is added to the prespecified internal forces, is introduced. The applicability of the control strategy is tested under a case study.
AB - This paper presents a control strategy for N robot arms cooperating through a flexible object. The dynamic equations of the system under consideration are described, with position and force parameters being considered in an extended 6N-dimensional space. The control strategy is based on the decomposition of the position and the force parameters. The strategy includes feedforward and feedback levels, which take into account the object compliance. The force and the moments applied to the object by manipulators as well as the end-point accelerations are considered to be the control inputs for the Cartesian-level control system. The feedback level includes the nonlinear decoupling control law to ensure the tracking of the object trajectories in the position and the force spaces. To damp out the object oscillations, an additional control input, which is added to the prespecified internal forces, is introduced. The applicability of the control strategy is tested under a case study.
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M3 - Paper
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SP - 685
EP - 690
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