Decentralized control of cooperative manipulators based on virtual force transmission algorithm

Masanao Itoh, Toshiyuki Murakami

研究成果: Paper査読

8 被引用数 (Scopus)

抄録

This paper describes a novel approach to control the cooperative manipulators in the grasping motion. In this method, first, the grasping force and accelerating force are calculated at the end-effectors. Then the impedance controller is adopted to calculate the force. Second, the force is resolved from tip to base link so that the rotational force is changed into the torque and the others are given to the next joint. This means that the force is transmitted among joints step by step and the desired tasks are realized asymptotically. Final, the work space observer is adopted so that the error is corrected in the tip motion response. Using this method, it is possible to realize decentralized control of plural and cooperative manipulators and the control structure is simplified. The proposed method is confirmed by several simulations and experiments.

本文言語English
ページ869-874
ページ数6
出版ステータスPublished - 1999 12月 1
イベントProceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD) - Kohala Coast, HI, USA
継続期間: 1999 8月 221999 8月 27

Other

OtherProceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD)
CityKohala Coast, HI, USA
Period99/8/2299/8/27

ASJC Scopus subject areas

  • 制御およびシステム工学

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