Reflex-Action Position Control and Two-Arm Load-Sharing Force Control With Adaptive Load Apportioning

Control techniques for one- and two-arm systems are presented. The first, reflex-action position (RAP) control, makes the single-arm manipulator dynamics, as seen by a position controller, independent of uncertain loading. With this form of load decoupling, the position controller can be designed for good performance while maintaining robustness. The second, load-sharing force (LSF) control, is for two manipulators grasping a rigid object, and is used in conjunction with RAP control. The LSF control addresses three problems: (1) load sharing, (2) control of interactive forces, and (3) accurate position control. A diagonal matrix determines how the load is apportioned to each manipulator. An external input specifies the desired compression, tension, or torsion to be applied to the object.

[1]  M. E. Pittelkau,et al.  Reflex-action position control of robots: comparison with impedance control , 1988, Conference Proceedings '88., IEEE Southeastcon.

[2]  Tzyh Jong Tarn,et al.  Coordinated control of two robot arms , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[3]  Y. Zheng,et al.  Control of two coordinated robots in motion , 1985, 1985 24th IEEE Conference on Decision and Control.

[4]  Philip E. Gill,et al.  Practical optimization , 1981 .

[5]  A. Koivo,et al.  Adaptive position-velocity-force control of two manipulators , 1985, 1985 24th IEEE Conference on Decision and Control.

[6]  Mark E. Pittelkau.  Adaptive load-sharing force control for two-arm manipulators , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[7]  Yuan F. Zheng,et al.  Optimal load distribution for two industrial robots handling a single object , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[8]  Yuan F. Zheng,et al.  Joint torques for control of two coordinated moving robots , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[9]  C. Alford,et al.  Coordinated control of two robot arms , 1984, ICRA.

[10]  J.N. Anderson,et al.  Decoupled Simulation of Two-Arm Robot Systems , 1986, 1986 American Control Conference.

[11]  S. Hayati.  Hybrid position/Force control of multi-arm cooperating robots , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[12]  J. Y. S. Luh,et al.  On-Line Computational Scheme for Mechanical Manipulators , 1980 .

[13]  C. S. G. Lee,et al.  Robotics: Control, Sensing, Vision, and Intelligence , 1987 .

[14]  R. Paul.  Robot manipulators : mathematics, programming, and control : the computer control of robot manipulators , 1981 .

[15]  John E. Dennis,et al.  Numerical methods for unconstrained optimization and nonlinear equations , 1983, Prentice Hall series in computational mathematics.

[16]  John J. Craig,et al.  Introduction to Robotics Mechanics and Control , 1986 .