A comparison of control strategies for force constrained cooperating robots

Author

Duelen, G. ; Münch, H. ; Zhang, Y.

Author_Institution

Fraunhofer-Inst. for Production Syst. & Design Technol., Berlin, Germany

fYear

1991

fDate

11-13 Dec 1991

Firstpage

708

Abstract

An efficient hybrid control concept for force-constrained cooperating robots is presented. The entire control scheme is principally composed of two control levels; centralized coordination and decentralized control execution. The centralized coordination deals with the transformation of the coordinate vectors and the force vectors among the task space, the joint space and the end effect frames. Decentralized control execution is achieved in joint space. The authors adopt a proportional-integral (PI) control law for the force and the position controller in the joint space. The hybrid control scheme is compared with separate position control and master/slave control by simulation on typical cooperating robot systems with two six-jointed industrial robots carryout out exemplary tasks

Keywords

centralised control; decentralised control; force control; position control; robots; two-term control; PI control; centralized coordination; coordinate vectors; decentralized control; end effect frames; force constrained cooperating robots; force control; force vectors; hybrid control; industrial robots; joint space; position control; task space; Centralized control; Distributed control; Force control; Master-slave; Orbital robotics; Pi control; Position control; Proportional control; Robot kinematics; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1991., Proceedings of the 30th IEEE Conference on

Conference_Location

Brighton

Print_ISBN

0-7803-0450-0

Type

conf

DOI

10.1109/CDC.1991.261402

Filename

261402