1,721,052 research outputs found
Cooperative control schemes for multiple robot manipulator systems
No full textThree schemes are developed which are aimed at achieving cooperative control of multiple arm systems manipulating a common object. The first scheme operates wholly on the object task space variables. The second scheme operates on the joint space variables that can be derived via a kinematic inversion from the cooperative task space variables. The third scheme combines the features of the two by solving the cooperation at the inverse kinematic level and acting the control at the object level. Simulation results are provided for a two-arm planar system to investigate the behavior of the controlled system in the case of inaccurate object modeling
A time-delayed observer for fault detection and isolation in industrial robots
No full textIn this paper a discrete-time observer-based approach to
Fault Detection and Isolation (FDI) for industrial robotic
manipulators is presented and experimentally tested. In
order to counteract the effects of unmodeled dynamics and disturbances, a time-delayed estimate of such effects is adopted. Remarkably, the observer is designed directly in the discrete-time domain. The performance of the proposed approach are experimentally verified on a six-degrees-of-freedom industrial robot
Energy-based identification of dynamic parameters for a conventional industrial manipulator
No full textAn object space control scheme for cooperative manipulators
No full textThis paper presents a new control strategy for a system of two cooperative manipulators tightly grasping a common rigid object. The reference joint trajectories realizing a coordinated motion are assumed to be available. Differently from pure joint space control schemes, the proposed strategy leads to a controller acting in the object space which still uses joint errors. A case study is developed for a system of two planar manipulators
Cooperative task-space control with kinetostatic filtering of a two-manipulator system
No full textThis paper addresses the problem of cooperative task-space control of a two-manipulator system holding a rigid object. The cooperative task-space is defined as a set of meaningful absolute and relative variables fully characterizing the system, and a task-space control is devised. Then, a kinetostatic filtering of the control action is introduced which is shown to cancel out stresses on the held object at steady state; this is obtained without resorting to force measurements. Simulation analysis and experimental validation of the proposed control scheme for a planar cooperative task is performed on a setup of two industrial manipulator
Stability analysis of a joint space control law for a two-manipulator system
No full textThe control problem for a truly cooperative manipulator system cannot be regarded as a simple extension of single manipulator control since additional complexity arises from the need of ensuring coordinated motion of the system. Previously, we have proposed a control strategy based on two stages; namely, kinematic inversion of a set of cooperative task variables, and a joint space control law with kinetostatic filtering of cooperative task space errors; this strategy avoids some of the drawbacks of other approaches. In this paper, the stability analysis for the joint space control law is provided and global asymptotic stability of a set of equilibrium points is demonstrated. The addition of a force loop to achieve internal force regulation is also discusse
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