Experimental Results for Force Distribution in Cooperating Manipulator Systems Using Local Joint Control

Local control schemes using only position and rate errors to generate control forces are widely used for control of open- chain, serial-link robotic mechanisms, When two or more such open chains interact, closed kinematic chain, redundantly actu ated mechanisms are formed. Recent work has shown that the vector of joint forces produced using a local proportional-plus- derivative feedback scheme for the control of a cooperating manipulator system results in a vector of joint torques with a minimum weighted Euclidean norm. The current work presents the derivation of this force distribution and experimental evi dence to corroborate the analytic results. The data presented are obtained from an experimental cooperating manipulator system developed specifically for use in the application of theo retical control approaches in cooperating hardware systems.

[1]  David E. Orin,et al.  Control of Force Distribution in Robotic Mechanisms Containing Closed Kinematic Chains , 1981 .

[2]  Yoshihiko Nakamura,et al.  Dynamics computation of closed-link robot mechanisms with nonredundant and redundant actuators , 1989, IEEE Trans. Robotics Autom..

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

[4]  Craig R. Carignan,et al.  Cooperative control of two arms in the transport of an inertial load in zero gravity , 1988, IEEE J. Robotics Autom..

[5]  John F. Gardner,et al.  Experimental implementation of a neural network architecture for control of cooperating robotic systems , 1992 .

[6]  John F. Gardner,et al.  Local joint control in cooperating manipulator systems - force distribution and global stability , 1993, Robotica.

[7]  J. Y. S. Luh,et al.  Conventional controller design for industrial robots — A tutorial , 1983, IEEE Transactions on Systems, Man, and Cybernetics.

[8]  Takeo Kanade,et al.  Experimental Evaluation of Nonlinear Feedback and Feedforward Control Schemes for Manipulators , 1988, Int. J. Robotics Res..

[9]  H. Kazerooni,et al.  Control and Stability Analysis of Cooperating Robots , 1988, 1988 American Control Conference.

[10]  J. Y. S. Luh,et al.  Constrained Relations between Two Coordinated Industrial Robots for Motion Control , 1987 .

[11]  Yoshihiko Nakamura.  Minimizing Object Strain Energy for Coordination of Multiple Robotic Mechanisms , 1988, 1988 American Control Conference.

[12]  Oussama Khatib,et al.  A unified approach for motion and force control of robot manipulators: The operational space formulation , 1987, IEEE J. Robotics Autom..

[13]  John F. Gardner,et al.  Kinematics of redundantly actuated closed chains , 1990, IEEE Trans. Robotics Autom..

[14]  Thomas B. Sheridan,et al.  Robust compliant motion for manipulators, part I: The fundamental concepts of compliant motion , 1986, IEEE J. Robotics Autom..

[15]  C. J. Clark,et al.  A comparison of control laws for a cooperative robot system , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[16]  John J. Craig,et al.  Hybrid position/force control of manipulators , 1981 .

[17]  W. Seering,et al.  Introduction to dynamic models for robot force control , 1987, IEEE Control Systems Magazine.

[18]  E. J. Haug,et al.  Computer aided kinematics and dynamics of mechanical systems. Vol. 1: basic methods , 1989 .

[19]  Warren P. Seering,et al.  On dynamic models of robot force control , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[20]  Tomás Lozano-Pérez,et al.  Spatial Planning: A Configuration Space Approach , 1983, IEEE Transactions on Computers.

[21]  Jean-Jacques E. Slotine,et al.  Robot analysis and control , 1988, Autom..