Impact model and control of two cooperating planar manipulators

Author

Indri, Marina ; Tornambé, Antonio

Author_Institution

Dipt. di Autom. e Inf., Politecnico di Torino, Italy

Volume

1

fYear

1997

fDate

4-6 Jun 1997

Firstpage

101

Abstract

The problem of modelling and controlling the impact between the end-effecters of two cooperating planar two-link manipulators is considered. The motion equations of the robots are determined both in the contact condition and in the non-contact one. The proposed control scheme allows the global asymptotic regulation of the robot arms to a desired configuration, with a prescribed contact force, by utilizing the estimate of the impact-induced forces provided by reduced-order observers. Simulation results confirm the theoretical effectiveness of the proposed algorithm

Keywords

asymptotic stability; closed loop systems; manipulator dynamics; motion control; observers; reduced order systems; closed loop systems; cooperating planar manipulators; end-effecters; impact control; impact model; modelling; motion control; reduced-order observers; symptotic stability; two-link manipulators; Automatic control; Collision avoidance; Control systems; Equations; Force control; Gravity; Manipulators; Motion control; Orbital robotics; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1997. Proceedings of the 1997

Conference_Location

Albuquerque, NM

ISSN

0743-1619

Print_ISBN

0-7803-3832-4

Type

conf

DOI

10.1109/ACC.1997.611763

Filename

611763