VSC coordinated control of two manipulator arms in the presence of environmental constraints

Yao, Bin; Gao, Wei-Bing; Chan, Siu Lai; Cheng, Ming

doi:10.1109/9.173156

Cited by 64 publications

(24 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The workspace of the manipulators is a horizontal surface. Thus, the dynamic parameter matrices of both manipulators are [7] …”

Section: Simulation Resultsmentioning

confidence: 99%

See 1 more Smart Citation

Independent force and position control for cooperating manipulators

Tzierakis¹,

Koumboulis²

2003

Journal of the Franklin Institute

View full text Add to dashboard Cite

“…The workspace of the manipulators is a horizontal surface. Thus, the dynamic parameter matrices of both manipulators are [7] …”

Section: Simulation Resultsmentioning

confidence: 99%

“…or in any combination of the above. In such cases a control law using the object dynamic parameters, as in [2][3][4][5][6][7][8][9][10][12][13][14], cannot be implemented. For this case adaptive techniques (see e.g.…”

Section: Introductionmentioning

confidence: 99%

Independent force and position control for cooperating manipulators

Tzierakis¹,

Koumboulis²

2003

Journal of the Franklin Institute

View full text Add to dashboard Cite

“…Only a few papers consider the problem of multiple robot compliant manipulation on dynamic object (see , Yukawa et al, 1993, and several adaptive control methods for multiple manipulators in the contact tasks were proposed (see Hu and Goldenberg, 1993, Su and Stepanenko, 1993, Yao et al, 1992. Only a few papers consider the problem of multiple robot compliant manipulation on dynamic object (see , Yukawa et al, 1993, and several adaptive control methods for multiple manipulators in the contact tasks were proposed (see Hu and Goldenberg, 1993, Su and Stepanenko, 1993, Yao et al, 1992.…”

Section: Introductionmentioning

confidence: 99%

Romansy 13

2000

CISM International Centre for Mechanical Sciences

View full text Add to dashboard Cite

PREFACEThe CISM-IFToMM Ro.Man.Sy Symposia have played a dynamic role in the development of the theory and practice of robotics. The proceedings of the thirteenth symposia present world view of the state of the art. in Zakopane, Poland was attended by 74 participants from 15 countries. The proceedings of this thirteenth edition of Ro.Man:Sy focus mainly on problems of mechanical engineering and control. In his opening lecture B. Roth presented an overview of the theoretical basis for the mechanical aspects of robot design. In his general lecture M. Vukobratovic discussed theory and practice of new frontiers of robotics.The 50 regular papers included in this volume illustrate significant contribution in mechanics ( 13 papers), motion control (7), synthesis and design (8), legged locomotion (1 1), sensing and machine intelligence (2), applications (5) and biomechanical aspects of robots and manipulators (4). They appear here in the order and form in which they were presented during the symposium.

show abstract

“…Moreover, the dynamic parameters of the object often vary according to the task, which is variable. To control multiple robot arms whose dynamic parameters are unknown, a control method using neural networks (6) , a learning control (7) , and sliding mode controls (8), (9) have been respectively proposed. Pagilla and Tomizuka (10) presented an adaptive control, in which the parameters of the robot arms were known and the parameters of the object were estimated adaptively.…”

Section: Introductionmentioning

confidence: 99%

Decentralized Adaptive Coordinated Control of Multiple Robot Arms Handling One Object

Kawasaki

Ramli

Ito

2005

JSME Int. J., Ser. C

View full text Add to dashboard Cite

This paper presents an adaptive decentralized coordinated control method for multiple robot arms grasping a common object. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model and each robot controller works independently as hybrid adaptive controller. The asymptotic stability of position and internal force of the object is proven by the Lyapunov-Like Lemma. Experimental comparisons between adaptive control with force sensor and one without force sensor for the two robot arms grasping a common object are shown.

show abstract

VSC coordinated control of two manipulator arms in the presence of environmental constraints

Cited by 64 publications

References 12 publications

Independent force and position control for cooperating manipulators

Independent force and position control for cooperating manipulators

Romansy 13

Decentralized Adaptive Coordinated Control of Multiple Robot Arms Handling One Object

Contact Info

Product

Resources

About