Shadow Space Modeling and Task Planning for Collision-free Cooperation of Dual Manipulators for Planar Task

Yoon, Hyun Joong; Chung, Seunghwan; Hwang, Myun Joong

doi:10.1007/s12555-018-0236-1

Cited by 11 publications

(7 citation statements)

References 14 publications

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“…The nonlinear term   1 fx has a Lipchitz of 1 fk fx. It is noteworthy from (16) that the matrix of the state estimation error of the end-effector position,   1 fx , depending on the estimation error of the joint angle, should be obtained from forward kinematic calculation. However, because it is the function of joint angle error and is bounded by 1 fk fx, the estimation error of the forward kinematic is linearized around the equilibrium of zero and thus, in this scope, it is simplified by using a constant matrix gain…”

Section: Assumptionmentioning

confidence: 99%

“…As the rapid development in the field of automation, system analysis and control strategy design have become topics of interest in control research area in recent years. Several methodologies were proposed to exhibit the tracking performance for multi-input-multi-output nonlinear systems [1]- [4] such as advanced control algorithms [5]- [7], fractional-order control [8]- [10], intelligent techniques [11]- [15], or even optimization [16], [17] for robotic manipulators.…”

Section: Introductionmentioning

confidence: 99%

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A Robust Observer for Sensor Faults Estimation on n-DOF Manipulator in Constrained Framework Environment

et al. 2021

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This paper presents a fault-tolerant control (FTC) based on impedance control and full state feedback backstepping sliding mode control (FBSMC) algorithm for an n degree of freedoms (n-DOF) serial hydraulic manipulator under the presence of matched and mismatched uncertainties and sensor faults in the constrained framework. These faulty signals, generated from unknown constant or time-variant offset values, happen on both manipulator joint angles and force sensors; thereby degrading the system performance. Therefore, to address both matched and mismatched uncertainties and signal faults, the system dynamics subjects to the sensor faults is mathematically modeled. Then, the robust fault estimation algorithm based on extended state observer (ESO) is proposed to estimate the system state and faulty signals for the FTC design to achieve the force and position tracking performance. System stability of the proposed control scheme is theoretically proven by performing Lyapunov theorems. Finally, comparative simulation results are given on a 3-DOF serial hydraulic manipulator to evaluate the effectiveness of the proposed fault estimation and FTC methodology.INDEX TERMS Sensor fault estimation, extended state observer (ESO), fault-tolerant control (FTC), force control, impedance control.

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Section: Assumptionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Robust Observer for Sensor Faults Estimation on n-DOF Manipulator in Constrained Framework Environment

et al. 2021

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“…In a similar approach to [16], Safeea et al [17] achieve collaborative task execution by means of generating a collection of offline computed nominal paths tailored to the industrial task at hand and generating on-the-fly modifications by means of artificial potential fields for collision avoidance. Similarly, Yoon et al [18] use the concept of manipulator shadow space calculations along with modified genetic algorithms for generation of an optimal collision-free sequence for executing planar tasks, where the manipulators are assumed to only travel linearly from one point to another and both manipulators start moving at the same time.…”

Section: Introductionmentioning

confidence: 99%

Automatic Collision-Free Trajectory Generation for Collaborative Robotic Car-Painting

et al. 2022

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This paper investigates the problem of collaborative robotic car-painting using a team of industrial manipulators that can be heterogeneous. Given the CAD model of the car, a collection of heterogeneous articulated robotic arms, and their corresponding fixed base positions on the factory floor/ceiling, the objective is to generate a collection of joint trajectories for each robot in a computationally efficient manner such that the car body can be painted by the nozzles attached to the arms while collisions during the painting process are avoided. Our solution to this computationally intensive collaborative coverage path planning relies on decoupling the collision avoidance from the coverage path planning by exploiting the inherent two-dimensional structure of the problem. In particular, our algorithm relies on partitioning the reachable space of the forearms of these robots, projecting the resulting volumes of intersection on the sides and the top of the car body, and performing the coverage planning on the resulting projected volumes. Simulation results on several industrial arms that are collaboratively painting a Ford Motor Company F-150 truck demonstrate the effectiveness of our proposed solution.INDEX TERMS Computer integrated manufacturing, computational geometry, multi-robot systems, path planning.

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“…Different from human self-adaptivity activities, movements of the manipulator are mostly setup based on predetermined typically repeated tasks like loading, positioning. Various studies of algorithm developments have been reported to enhance system behaviors such as advanced adaptive control [5][6][7], optimal control [8], intelligent techniques [9][10][11][12], time-delayed estimation [13][14][15], observers [16][17][18], or even optimizations [19][20][21]. However, those studies intensively focused on the improvement of tracking performance and evaluation of system behaviors in free-motion.…”

Section: Introductionmentioning

confidence: 99%

Safety Operation of n-DOF Serial Hydraulic Manipulator in Constrained Motion with Consideration of Contact-Loss Fault

2020

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In consideration of accidental contact-loss due to step-change or accidentally moving out of a constrained framework, this paper focuses on solving this problem during working processes of an n-degree-of-freedom hydraulic manipulator (n-DOF manipulator). In order to overcome this phenomenon, a fault detection methodology-based virtual energy tank is employed with a shaping function to prevent the end-effector from damage or unexpected motion. This technique helps to detect when the contact-loss happens by a virtual energy variable; thus, decoupling a force control regulation. Moreover, a new trajectory for smooth motion after contact-loss detection is also discussed to increase system robustness. Additionally, to enhance tracking performance, adaptive laws are designed to compensate for system uncertainties. Comparative simulations are given on the n-DOF hydraulic manipulator to evaluate effectiveness of the impedance-based energy tank methodology under the sudden step-changed environment. Moreover, influences of control gains and setup energy parameters to the system behaviors when contact-loss happens are remarkably discussed as indispensable criteria for further development. The simulated results certified the superior effectiveness and reliability of the suggested methodology over the conventional impedance control for safe operation.

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Shadow Space Modeling and Task Planning for Collision-free Cooperation of Dual Manipulators for Planar Task

Cited by 11 publications

References 14 publications

A Robust Observer for Sensor Faults Estimation on n-DOF Manipulator in Constrained Framework Environment

A Robust Observer for Sensor Faults Estimation on n-DOF Manipulator in Constrained Framework Environment

Automatic Collision-Free Trajectory Generation for Collaborative Robotic Car-Painting

Safety Operation of n-DOF Serial Hydraulic Manipulator in Constrained Motion with Consideration of Contact-Loss Fault

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