Impact model and control of two multi-DOF cooperating manipulators

IEEE Transactions on Automatic Control

Volumn 44, Issue 6, 1999, Pages 1297-1303

  Indri, Marina ^a   Tornambè, Antonio ^b  

^a POLITECNICO DI TORINO   (Italy)

^b ROMA TRE UNIVERSITY   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; EQUATIONS OF MOTION; FORCE CONTROL; MATHEMATICAL MODELS; OBSERVABILITY; POSITION MEASUREMENT; VELOCITY MEASUREMENT;

COOPERATING MANIPULATORS; GLOBAL ASYMPTOTIC REGULATION; IMPACT CONTROL;

MANIPULATORS;

EID: 0032661448     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/9.769394     Document Type: Article

References (24)

1. R. G. Bonitz and T. C. Hsia, "Internal force-based impedance control for cooperating manipulators," IEEE Trans. Robotics Automat., vol. 12, no. 1, pp. 78-89, 1996.
2. B. Brogliato, Nonsmooth Impact Mechanics. London, U.K.: Springer-Verlag, 1996.
3. B. Brogliato, S.-I. Niculescu, and P. Orhant, "On the control of finite-dimensional mechanical systems with unilateral constraints," IEEE Trans. Automat. Contr., vol. 42, pp. 200-215, 1997.
4. B. Chapnik, G. Heppler, and J. Aplevich, "Modeling impact on a one-link flexible robotic arm," IEEE Trans. Robotics Automat., vol. 7, pp. 479-488, 1991.
5. T. H. Connolly and F. Pfeiffer, "Cooperating manipulator control with feedforward dynamic compensation," IFAC Symp. Robot Control (SY.RO.CO.94), pp. 993-998, preprint.
6. W. Goldsmith, Impact. London, U.K.: Edward Arnold, 1960.
7. W. Hahn, Stability of Motion. Berlin, Germany: Springer-Verlag, 1967.
8. Y.-R. Hu and A. A. Goldenberg, "An adaptive approach to motion and force control of multiple coordinated robots," ASME J. Dynamic Syst., Measurement, and Contr., vol. 115, pp. 60-69, 1993.
9. Y. Hurmuzlu and D. B. Marghitu, "Rigid body collision of planar kinematic chains with multiple contact points," Int. J. Robotics Res., vol. 13, no. 1, pp. 82-92, 1994.
10. Y. Hurmuzlu and T. H. Chang, "Rigid body collisions of a special class of planar kinematic chain," IEEE Trans. Syst., Man, Cybern., vol. 22, no. 5, pp. 964-971, 1992.
11. J.-H. Jean and L.-C. Fu, "An adaptive control scheme for coordinated multimanipulator systems," IEEE Trans. Robotics Automat., vol. 9, pp. 226-231, 1993.
12. Z. C. Lin, R. V. Patel, and C. A. Balafoutis, "Impact reduction for redundant manipulators using augmented impedance control," J. Robotic Syst., vol. 12, no. 5, pp. 301-313, 1995.
13. N. Mandal and S. Payandeh, "Control strategies for robotic contact tasks: An experimental study," J. Robotic Syst., vol. 12, no. 1, pp. 67-92, 1995.
14. J. K. Mills and D. M. Lokhorst, "Control of robotic manipulators during general task execution: A discontinuous control approach," Int. J. Robotics Res., vol. 12, no. 2, pp. 146-163, 1993.
15. G. Song and L. Cai, "A smooth robust control approach to cooperation of multiple robot manipulators," in Proc. American Control Conf., 1995, pp. 1382-1386.
16. J. M. Tao, J. Y. S. Luh, and Y. F. Zheng, "Compliant coordination control of two moving industrial robots," IEEE Trans. Robotics Automat., vol. 6, pp. 322-330, 1990.
17. T.-J. Tarn, Y. Wu, N. Xi, and A. Isidori, "Force regulation and contact transition control," IEEE Contr. Syst., vol. 16, no. 1, pp. 32-40, 1996.
18. A. Tornambè, "Modeling and controlling one-degree-of-freedom impacts," IEE Proc.-Control Theory Applicat., vol. 143, no. 1, pp. 85-90, 1996.
19. _, "Global regulation of a planar robot arm striking a surface," IEEE Trans. Automat. Contr., vol. 41, pp. 1517-1521, 1996.
20. R. Volpe and P. Khosla, "A theoretical and experimental investigation of impact control for manipulators," Int. J. Robotics Research, vol. 13, no. 4, pp. 351-365, 1993.
21. Q. F. Wei, P. S. Krishnaprasad, and W. P. Dayawansa, "Modeling of impact on a flexible beam," in Proc. 32nd Conf. Decision and Control, 1993, vol. 2, pp. 1377-1382.
22. J. T. Wen and K. Kreutz, "Motion and force control for multiple cooperative manipulators," in Proc. 1989 IEEE Int. Conf. Robotics and Automation, 1989, pp. 1246-1251.
23. K. Youcef-Toumi and D. A. Gutz, "Impact and force control: Modeling and experiments," ASME J. Dynamic Syst., Measurements, and Contr., vol. 116, pp. 89-98, 1994.
24. J. A. Zukas, Impact Dynamics. New York: Wiley, 1982.