Title :
A control system for cooperating tentacle robots
Author :
Ivanescu, M. ; Stoian, V.
Author_Institution :
Dept. of Autom. & Comput., Craiova Univ., Romania
Abstract :
A control system is proposed to solve the local control for a multi-chain robotic system formed by tentacle manipulators grasping a common object with hard point contacts. The two-level hierarchical control is adopted. The upper level coordinator gathers all the necessary information to resolve the force distribution. The lower-level local control problem is then treated as an open-chain redundant manipulator control problem. A closed loop control based on the inverse dynamic model and the DSMC procedure are proposed. The fuzzy rules are established. Simulation results are presented and discussed
Keywords :
closed loop systems; cooperative systems; fuzzy control; hierarchical systems; manipulator dynamics; manipulator kinematics; variable structure systems; closed loop systems; cooperating tentacle robots; fuzzy control; grasping; hard point contacts; inverse dynamic model; kinematics; multiple chain robotic system; redundant manipulator; sliding mode control; two-level hierarchical control; Automatic control; Control systems; Fuzzy control; Inverse problems; Manipulator dynamics; Motion control; Open loop systems; Robot kinematics; Robotics and automation; Sliding mode control;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677341
