Decentralized Impedance Control of Nonredundant Multi-manipulator Systems

Author

Sadati, Nasser ; Ghaffarkhah, Alireza

Author_Institution

Sharif Univ. of Technol., Tehran

fYear

2008

fDate

6-8 April 2008

Firstpage

206

Lastpage

211

Abstract

In this paper, we propose a decentralized control scheme for combined motion/force control of nonredundant multi-manipulator robotic systems, cooperatively grasping a rigid body in a prespecified position/force trajectory. The proposed control scheme uses the impedance method for modeling the internal force exerted by the end effectors to the object. The precise mathematical analysis of the overall dynamical system and the proposed controller are presented and the stability of the overall system is studied. The proposed controller, then, is applied to a cooperative system composed of two PUMA560 manipulators and the simulation results are presented to verify the proposed control scheme.

Keywords

decentralised control; force control; manipulators; mobile robots; decentralized impedance control; dynamical system; force control; mathematical analysis; motion control; nonredundant multi manipulator robotic system; prespecified position control; rigid body; stability; Control systems; Cooperative systems; Distributed control; End effectors; Force control; Impedance measurement; Manipulator dynamics; Mathematical analysis; Robots; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Networking, Sensing and Control, 2008. ICNSC 2008. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1685-1

Electronic_ISBN

978-1-4244-1686-8

Type

conf

DOI

10.1109/ICNSC.2008.4525211

Filename

4525211