Title :
Decentralized Impedance Control of Nonredundant Multi-manipulator Systems
Author :
Sadati, Nasser ; Ghaffarkhah, Alireza
Author_Institution :
Sharif Univ. of Technol., Tehran
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;
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
DOI :
10.1109/ICNSC.2008.4525211
