A new controller design scheme for cooperating manipulators - a reliable design approach

A new controller design framework for cooperating manipulators is considered in this paper based on a reliable controller design concept. The objective of this paper is to derive a set of controllers for cooperating manipulators, particularly those that can hand over an object. The key idea is to reformulate the original problem of coordinated control as a reliable stabilization problem, i.e. to design a set of controllers which can stabilize a plant both jointly and alone. By introducing a kind of strict force control scheme in the workspace, the reliably stabilizing controller design technique is applied to derive the controllers. Two contributions exist: (i) clarifying a class of the object which can be handed over by using the proposed control scheme and (ii) presenting a constructive design method of the controllers. Experimental results on the hand-over control of a spherical inverted pendulum with two 6 d.o.f. manipulators are included.

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