Hybrid position/Force control for coordination of a two-arm robot

Uchiyama, Masaru; Iwasawa, Naotoshi; Hakomori, Kyojiro

doi:10.1109/robot.1987.1087766

Cited by 102 publications

(29 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Uchiyama et al [8] applied a hybrid control technique to a two-arm industrial robot. Laroussi et al [9] considered linear state feedback for stabilization and control of two planar robots in lifting a load and transporting it to a new location.…”

Section: Introductionmentioning

confidence: 99%

Load transportation by dual arm robot using sliding mode control

2010

View full text Add to dashboard Cite

In this study, a sliding mode controlled dual arm robotic system was designed. Such multi-arm, collaborative and synchronous robots typically are employed in hazardous situations such as radioactive materials transport explosives disposal and industrial applications. In the present study, a high performance, robust, non-chattering sliding mode controller (SMC) was developed for the purpose of safe load handling, transportation and trajectory realization. First, dynamic equations of robot/load interaction were derived. Then, the robust SMC was designed for the dual arm robotic system. In order to test the robustness of the proposed SMC, parameter variations and external disturbances were introduced to the system. Furthermore, for comparative purposes, the conventional and widely used, PID controller was also applied to the dual arm robot. Significantly, it was found that the SMC made smaller trajectory tracking errors than the PID controller. An overall analysis of the numerical results confirmed that the dual-arm robotic systems with the proposed SMC can safely and effectively be used in hazardous applications.

show abstract

Section: Introductionmentioning

confidence: 99%

Load transportation by dual arm robot using sliding mode control

2010

View full text Add to dashboard Cite

show abstract

“…To completely describe the system, a set of state variables must be selected and state equations must be established. Since x, = x1 = 2 2 during the contact, adding Equations (I), (2), and (3) together to eliminate Fl and F2, we obtain mx, + bx, + cx,…”

Section: State Space Representationmentioning

confidence: 99%

“…Coordinated control of two or multiple manipulators has been studied by many researchers including Nakamura et al [I], Uchiyama et al [2], Zheng and Luh [3], Hayati [4], Dauchez and Uchiyama [5], and Tarn et al [6]. In most work, it is assumed that manipulators rigidly grasp the object so that both pushing and pulling are possible.…”

Section: Introductionmentioning

confidence: 99%

Coordination of two-arm pushing

Yun¹

Proceedings. 1991 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

Coordination of two manipulators performing the task of transporting objects is studied in this paper. Each manipulator is equipped with end effector -a flat surface palm. Grasping is achieved by the two palms pushing an object from two ends. The task requires simultaneous control of the object motion and the interaction force. The control of the interaction force is needed to ensure that the object is not dropped and to avoid excessive pressing. The motion and force control problem is further complicated by the presence of unilateral constraints since the manipulators can only push the object. This paper describes a control method which utilizes a state feedback to decouple position control and force control loops. A force control planning algorithm is also proposed which ensures the satisfaction of unilateral constraints. The effectiveness of the control method is verified by simulations. AbstractCoordination of two manipulators performing the task of transporting objects is studied in this paper. Each manipulator is equipped with end effector -a flat surface palm. Grasping is achieved by the two palms pushing an object from two ends. The task requires simultaneous control of the object motion and the interaction force. The control of the interaction force is needed t o ensure that the object is not dropped and to avoid excessive pressing. The motion and force control problem is further complicated by the presence of unilateral constraints since the manipulators can only push the object. This paper describes a control method which utilizes a state feedback to decouple position control and force control loops.A force control planning algorithm is also proposed which ensures the satisfaction of unilateral constraints. The effectiveness of the control method is verified by simulations.

show abstract

“…This control law has been further developed by Khatib[2], Yoshikawa [S] etc. Moreover, Uchiyama [4][5] has extended this control algorithm for two arm co-ordinated control.…”

Section: Introductionmentioning

confidence: 99%

On the asymptotic stability of the hybrid position/force control scheme for robot manipulators

Yabuta

Chona

Beni

Proceedings. 1988 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

This paper presents the conditions for the global asymptotic stability of the hybrid position/force control of robot mani ulators using Liapunov's direct method.,&hough h brid control schemes have been studied in d p t h , the stability problem has not been clarified completely.We deal with the stability of the hybrid control scheme in Cartesian coordinates of the work space, especially from the view point of coupling between position and force control. Results show nor only the global asymptotic stability conditions but also the physical interpretation or meaning of the stability conditions by citing an example of a two degree of freedom manipulator.

show abstract

Hybrid position/Force control for coordination of a two-arm robot

Cited by 102 publications

References 5 publications

Load transportation by dual arm robot using sliding mode control

Load transportation by dual arm robot using sliding mode control

Coordination of two-arm pushing

On the asymptotic stability of the hybrid position/force control scheme for robot manipulators

Contact Info

Product

Resources

About