PD-Type Control Schemes for Cooperative Manipulator Systems

ABSTRACTKinematic control of cooperative manipulator systems is based on the solution of an inverse kinematics problem providing the single-arm reference joint trajectories corresponding to the assigned cooperation task. If an independent joint control scheme is used to realize the desired joint trajectories, tracking error components causing violation of closed-chain constraints lead to building of large internal forces. A simple PD-type control law is presented in this article which is based on kineto-static filtering of the joint error components causing internal forces. The control law retains the simplicity of independent joint control schemes and achieves null internal force at steady state. The addition of internal-force feedback is also analyzed. A case study for a planar cooperative system is developed which shows the effectiveness of the proposed kineto-static filtering and makes a comparison with classical PD control.

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