Coordination strategy for a system of manipulators coupled via a flexible object

M. M. Svinin, M. Uchiyama

研究成果: 会議への寄与タイプ論文

2 引用 (Scopus)

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 19949 9 1994

その他

その他Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3)
Bologna, Italy
期間9/5/949/9/94

Fingerprint

Manipulators
Feedback
Level control
Trajectories
Robots
Decomposition
Control systems

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

これを引用

Svinin, M. M., & Uchiyama, M. (1994). Coordination strategy for a system of manipulators coupled via a flexible object. 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, .

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

Svinin, MM & Uchiyama, M 1994, 'Coordination strategy for a system of manipulators coupled via a flexible object', 論文発表場所 Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3), Bologna, Italy, 9/5/94 - 9/9/94 pp. 685-690.
Svinin MM, Uchiyama M. Coordination strategy for a system of manipulators coupled via a flexible object. 1994. 論文発表場所 Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3), Bologna, Italy, .
Svinin, M. M. ; Uchiyama, M. / Coordination strategy for a system of manipulators coupled via a flexible object. 論文発表場所 Proceedings of the 20th International Conference on Industrial Electronics, Control and Instrumentation. Part 1 (of 3), Bologna, Italy, .6 p.
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