Robust internal-force based impedance control for coordinating manipulators-theory and experiments

A robust internal force-based impedance control scheme for coordinating manipulators is introduced. Internal force-based impedance control enforces a relationship between the velocity of each manipulator and the internal force on the manipulated objects and requires no knowledge of the object dynamic model. Each manipulator's nonlinear dynamics is compensated by a robust auxiliary controller which is insensitive to robot-model uncertainty and payload variation. The controller is only weakly-dependent on each manipulator's inertia matrix. Stability of the system is analyzed. The scheme is computationally inexpensive and suitable for general-purpose microcomputer implementation. Rigorous experimental investigations are performed and the results presented which validate the proposed concepts.

[1]  T.C.S. Hsia,et al.  A new technique for robust control of servo systems , 1989 .

[2]  Robert G. Bonitz,et al.  Internal force-based impedance control for cooperating manipulators , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[3]  Kazuhiro Kosuge,et al.  Coordinated Motion Control of Robot Arm Based on Virtual Internal Model , 1991 .

[4]  Kazuhiro Kosuge,et al.  Coordinated motion control of robot arm based on virtual internal model , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[5]  Oussama Khatib,et al.  The explicit dynamic model and inertial parameters of the PUMA 560 arm , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[6]  T.C. Hsia,et al.  Force decomposition in cooperating manipulators using the theory of metric spaces and generalized inverses , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[7]  Yuan F. Zheng,et al.  Compliant coordination control of two moving industrial robots , 1987, 26th IEEE Conference on Decision and Control.

[8]  Aaas News,et al.  Book Reviews , 1893, Buffalo Medical and Surgical Journal.

[9]  Stanley A. Schneider,et al.  Object impedance control for cooperative manipulation: theory and experimental results , 1992, IEEE Trans. Robotics Autom..

[10]  Bruno Siciliano,et al.  Cooperative control schemes for multiple robot manipulator systems , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[11]  S. Liberty,et al.  Linear Systems , 2010, Scientific Parallel Computing.

[12]  J. Edward Colgate.  The control of dynamically interacting systems , 1988 .

[13]  Homayoon Kazerooni,et al.  Compliance control and unstructured modeling of cooperating robots , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[14]  Daniel E. Whitney,et al.  Historical Perspective and State of the Art in Robot Force Control , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

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

[16]  Vijay Kumar,et al.  Control of rolling contacts in multi-arm manipulation , 1994, IEEE Trans. Robotics Autom..

[17]  T.A. Lasky,et al.  Robust independent robot joint control: design and experimentation , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[18]  Masaru Uchiyama,et al.  A symmetric hybrid position/force control scheme for the coordination of two robots , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[19]  T. A. Lasky,et al.  Robust independent joint controller design for industrial robot manipulators , 1991 .