Abstract
This paper is concerned with the realization of robust force control scheme in the cooperative motion of multiple manipulator systems. The derivation of the control scheme is based on the adoption of disturbance force observer to the motion control system which is decomposed into trajectory and internal (grasping) force control subsystems. The force disturbance observer provides the system's robustness by compensating the disturbance of system including the variation of system parameters and also by enhancing the decoupled trajectory and internal force motion controllers. The effectiveness of the proposed systems is verified by several experimental results using two units of SCARA manipulators grasping an object and moving the object according to the desired trajectory in free motion condition as well as in the existence of external interaction force.
| Original language | English |
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| Pages | 1801-1806 |
| Number of pages | 6 |
| Publication status | Published - 1998 |
| Event | Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4) - Aachen, Ger Duration: 1998 Aug 31 → 1998 Sept 4 |
Other
| Other | Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4) |
|---|---|
| City | Aachen, Ger |
| Period | 98/8/31 → 98/9/4 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering