Symmetry position/force hybrid control for cooperative object transportation using multiple humanoid robots

Wu, Meng-Hung; Ogawa, Shuichi; Konno, Atsushi

doi:10.1080/01691864.2015.1096212

Cited by 25 publications

(17 citation statements)

References 29 publications

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“…Since the object is rigid, constraint (7) implies that the distance from the contact point to the geometric center of the object remains constant during its motion.…”

Section: Remarkmentioning

confidence: 99%

“…) describes the motion of the cooperative system, where each manipulator is coupled to the object by means of a load distribution (Equation 22) and the time-variant holonomic constraint (7).…”

Section: Dynamics Of the Cooperative Systemmentioning

confidence: 99%

“…In this section, we present an adaptive position/force control law for the cooperative system (23). In joint space coordinates, the constraint (7) and its derivative are given by…”

Section: Controller Designmentioning

confidence: 99%

“…The schemes proposed in the literature are divided into centralized and decentralized controllers. 6,7 The problem of 2 robots grasping an object that interacts with a rigid environment is addressed in Yao et al 8 The environment is modeled as a time-invariant holonomic constraint, and it is assumed that the object is rigidly attached to the robots' end effector. 1 In general, the centralized control algorithm is difficult to implement due to hardware limitations.…”

Section: Introductionmentioning

confidence: 99%

“…Position and force control for cooperative robots can be classified in impendace control schemes 4,5 and hybrid position/force control algorithms. 6,7 The problem of 2 robots grasping an object that interacts with a rigid environment is addressed in Yao et al 8 The environment is modeled as a time-invariant holonomic constraint, and it is assumed that the object is rigidly attached to the robots' end effector.…”

Section: Introductionmentioning

confidence: 99%

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On the adaptive control of cooperative robots with time‐variant holonomic constraints

Pliego‐Jiménez¹,

Arteaga²

2017

Adaptive Control & Signal

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In this work, we consider the problem of 2 robots handling a rigid object, while model-parameter uncertainties are assumed. It is also assumed that the manipulators can push but not pull the object. Several control schemes proposed in the literature attempt to control the position of the object rather than its orientation. However, many industrial tasks require to move and to rotate the object. To this end, we propose an adaptive hybrid position/force control law based on time-variant holonomic constraints, which allow for object position and orientation control. Our approach guarantees that the force error asymptotically converges to 0; therefore, a stable grasp can be accomplished by means of a proper definition of the desired pushing force. In addition, a dynamic model of the cooperative system based on the load distribution and joint-space orthogonalization principles is developed. Experimental results are presented to validate the proposed dynamic model and control scheme.Consider the following auxiliary theorem: Theorem 2. 31 Let ⊂ ℜ n be a domain containing y = 0 and suppose f(t, y) is piecewise continuous in t and locally Lipschitz in y,J 1 (2, 1) = 11 c(q 11 ), J 1 (2, 2) = 21 c(q 21 ),For the matrix J 2 = J c2 J m2 , we haveJ 2 (2, 1) = 21 c(q 21 ) + 22 c(q 22 ) + ( 32 − r cx2 )c( 2 ) + r cy2 s( 2 ), J 2 (2, 2) = 22 c(q 22 ) + ( 32 − r cx2 )c( 2 ) + r cy2 s( 2 ), J 2 (2, 3) = ( 32 − r cx2 )c( 2 ) + r cy2 s( 2 ), J 2 (3, 1) = 1, J 2 (3, 2) = 1, J 2 (3, 3) = 1.

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“…Since the object is rigid, constraint (7) implies that the distance from the contact point to the geometric center of the object remains constant during its motion.…”

Section: Remarkmentioning

confidence: 99%

Section: Dynamics Of the Cooperative Systemmentioning

confidence: 99%

“…In this section, we present an adaptive position/force control law for the cooperative system (23). In joint space coordinates, the constraint (7) and its derivative are given by…”

Section: Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

On the adaptive control of cooperative robots with time‐variant holonomic constraints

Pliego‐Jiménez¹,

Arteaga²

2017

Adaptive Control & Signal

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Robust fault tolerant optimal predictive control of hybrid actuators with time‐varying delay for industrial robot arm

Zahaf

Bououden

Chadli

et al. 2020

Asian Journal of Control

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This paper presents a robust hybrid fault-tolerant optimal predictive control (HFTPC), for an industrial robot arm under hybrid (electric and pneumatic) actuator faults and/or varying time-delays. Based on the error dynamics, estimated states, and a predictive controller, a new state feedback control law is proposed and implemented for the reformulation of the optimal control problem of a nonlinear faulty hybrid actuator system based on predictive control via linear matrix inequalities (LMIs). First, a robust MPC scheme is performed in which the future control sequence is used to compensate the varying timedelays. Then, a robust stable hybrid fault tolerant predivtive control is implemented to handle actuators faults to effect robust trajectory tracking. In fact, the stability of hybrid systems based on the proposed control scheme is a very sensitive criterion. Therefore, stability conditions are required for controlling the industrial arm under faulty hybrid (electric and pneumatic) actuator, based on the Lyapunov-Krasovskii (L-K) theory, less conservative stable conditions in terms of LMIs are given and used to ensure the asymptotically robust stability of closed-loop constrained system that dependent delay-range. To highlight the robustness and effectiveness of the proposed approach, a simulation study of an industrial robot arm example is proved, where the results showed the prompt and the accuracy of the proposed scheme.

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Dynamic Control for Human-Humanoid Interaction

Khan¹,

Bendoukha²,

Mahyuddin³

2018

Humanoid Robotics: A Reference

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Symmetry position/force hybrid control for cooperative object transportation using multiple humanoid robots

Cited by 25 publications

References 29 publications

On the adaptive control of cooperative robots with time‐variant holonomic constraints

On the adaptive control of cooperative robots with time‐variant holonomic constraints

Robust fault tolerant optimal predictive control of hybrid actuators with time‐varying delay for industrial robot arm

Dynamic Control for Human-Humanoid Interaction

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