Two-time scale control and observer design for trajectory tracking of two cooperating robot manipulators moving a flexible beam

Cooperative Path Planning and Constraints Analysis for Master-Slave Industrial Robots

“…Equation (9) is the individual constraint relations for coupled synchronous cooperation, the first part for orientation and the second part for position. In equation (9) there are 12 scalar equations, but only six of them are independent because the orientation of the end-effector can be uniquely defined by three parameters, such as the Euler angles. Transformation between Euler angles and the rotation matrix has been provided in Appendix A.…”

“…Here, the begin point for the VA1400 robot in its base frame is As the definition of coupled synchronous cooperation, slave robots require no further teaching operation. Slave trajectories should be calculated autonomously according to the master trajectory by the above conclusion of equation (8) or (9). By equation (8) After sb P II is calculated, motion trajectories in Cartesian space for both master and slave robot can be planned.…”

“…Until now, strategies for multiple robot control can be divided into three types: master-slave control [1][2][3], hybrid position-force control [4][5][6] and dynamic coordination control [7][8][9]. All these methods pay their attention to the control of the robots themselves.…”

Target Point Manipulation Inside a Deformable Object

“…A considerable amount of work on multiple robotic systems has been performed during the last few decades [9][10][11][12][13][14][15]. Mostly, the position and/or force control of multiple manipulators handling a rigid object were studied in [9][10][11].…”

Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian

“…For humanoids, these studies include the effects in modelling and simulating a human or a humanoid [8], task and whole body motion coordination with active force control [9], a dynamics simulator for humanoid robots [10,11], dynamic balance force control for determining full body joint torques [12,13], sequential optimization for impact motions of humanoid robots [14], human-humanoid postures with external disturbances [15], centroidal dynamics of humanoids [16], humanoid complete dynamics [17], and decoupled dynamics for NASA-JSC Valkyrie [18]. For dual-arm robots, studies on their dynamics model include dynamics of a flexible dual-arm robot using Lagrange formulation [19], modular dynamics with inertias expressed at the joint-space level [20], dynamics of a dual-arm space robot [21,22], dynamics of a dual-arm robot for load transport under sliding mode control [23,24], dynamics with elasticity at the joints [25], and dynamics of rigid dual-arms carrying a flexible load [26].…”