Distributively controlling two robots handling an object in the task space without any communication

Author

Liu, Yun-Hui ; Arimoto, Suguru

Author_Institution

Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Shatin, Hong Kong

Volume

41

Issue

8

fYear

1996

fDate

8/1/1996 12:00:00 AM

Firstpage

1193

Lastpage

1198

Abstract

Two distributed cooperation controllers are presented for trajectory tracking of two manipulators which are cooperatively handling an object. The controllers control the positions of the robots distributively by using the trajectory error of the object in the task space. In the first controller, the internal force between the object and a manipulator is controlled only by a feedforward of the desired force. The second controller uses a force feedback. No communication is required between the manipulators in both the controllers. Their globally and exponentially asymptotic stabilities are guaranteed by Lyapunov functions

Keywords

asymptotic stability; cooperative systems; distributed control; feedback; feedforward; force control; manipulators; position control; tracking; Lyapunov functions; cooperative handling; distributed cooperation controllers; exponentially asymptotic stabilities; feedforward; force feedback; globally asymptotic stabilities; internal force control; task space; trajectory error; trajectory tracking; Asymptotic stability; Communication system control; Distributed control; Error correction; Force control; Force feedback; Manipulators; Orbital robotics; Robot control; Trajectory;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.533683

Filename

533683