On hybrid position/force cooperative control of multimanipulator based on workspace disturbance observer

Edi Leksono, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In the coordinated motion of cooperative multimanipulator carrying an object, the actuators must generate motion inducing forces and internal forces (grasping forces). When the desired motion inducing force and the internal force are completely resolved then the position control and the force control can be realized independently. Otherwise, conflicting motions may occur. This paper proposes a hybrid position/force cooperative control scheme based on workspace disturbance observer which realizes a robust motion control system. The conflicting motion can be avoided because the disturbance observer based position and force control are allowed to operate in the opposite direction to each other. The use of disturbance observer is also to make the system parameter relatively fixed to some value such that a fixed gain controller can be chosen to achieve the desired system performance. Finally, simulation results show the validity of the proposed hybrid position/force cooperative control of multimanipulator.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Editors Anon
PublisherIEEE
Pages1873-1878
Number of pages6
Volume3
Publication statusPublished - 1996
EventProceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3) - Taipei, Taiwan
Duration: 1996 Aug 51996 Aug 10

Other

OtherProceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3)
CityTaipei, Taiwan
Period96/8/596/8/10

Fingerprint

Force control
Position control
Motion control
Robust control
Actuators
Control systems
Controllers

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Leksono, E., Murakami, T., & Ohnishi, K. (1996). On hybrid position/force cooperative control of multimanipulator based on workspace disturbance observer. In Anon (Ed.), IECON Proceedings (Industrial Electronics Conference) (Vol. 3, pp. 1873-1878). IEEE.

On hybrid position/force cooperative control of multimanipulator based on workspace disturbance observer. / Leksono, Edi; Murakami, Toshiyuki; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). ed. / Anon. Vol. 3 IEEE, 1996. p. 1873-1878.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Leksono, E, Murakami, T & Ohnishi, K 1996, On hybrid position/force cooperative control of multimanipulator based on workspace disturbance observer. in Anon (ed.), IECON Proceedings (Industrial Electronics Conference). vol. 3, IEEE, pp. 1873-1878, Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3), Taipei, Taiwan, 96/8/5.
Leksono E, Murakami T, Ohnishi K. On hybrid position/force cooperative control of multimanipulator based on workspace disturbance observer. In Anon, editor, IECON Proceedings (Industrial Electronics Conference). Vol. 3. IEEE. 1996. p. 1873-1878
Leksono, Edi ; Murakami, Toshiyuki ; Ohnishi, Kouhei. / On hybrid position/force cooperative control of multimanipulator based on workspace disturbance observer. IECON Proceedings (Industrial Electronics Conference). editor / Anon. Vol. 3 IEEE, 1996. pp. 1873-1878
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