Robust control of planar dual-arm cooperative manipulators

Robotics and Computer-Integrated Manufacturing

Volumn 16, Issue 2, 2000, Pages 109-119

  Liu, Jin Fan ^a   Abdel Malek, Karim ^b  

^a Comp Aided Des Simulat Inc C ^*  (United States)

^b University of Iowa   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; CONSTRAINT THEORY; FRICTION; MACHINE VIBRATIONS; MANIPULATORS; MATHEMATICAL MODELS; OPTIMIZATION; PRECISION ENGINEERING; ROBOTIC ARMS; ROBUSTNESS (CONTROL SYSTEMS);

KARUSH-KUN-TUCKER CONDITIONS; PLANAR DUAL-ARM MANIPULATOR SYSTEMS; SWITCHING-SLIDING ALGORITHMS;

COMPUTER INTEGRATED MANUFACTURING;

EID: 0033742742     PISSN: 07365845     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0736-5845(99)00043-5     Document Type: Article

References (40)

1. Lee S. Dual redundant arm configuration optimization with task-oriented dual arm manipulabity. IEEE Trans Robotics Automat. 5(1):1989;78-97.
2. Montana D.J. Contact stability for two-fingered grasps. IEEE Trans Robotics Automat. 8(4):1992.
3. Arimoto S, Miyazaki F, Kawamura S. Cooperative motion control of multiple robot arms or fingers. IEEE International Conference on Robotics and Automation, 1987.
4. NASA. Resource Report. NASA TechBriefs 1995;19(5).
5. Cao B, Dodds GI, Irwin GW. Practical approach to near time-optimal inspection-task-sequence planning for two cooperative industrial robot arms. Int J Robotics Res 1998;17(8):858-67. 0278-3649.
6. Ahmadabadi MN, Eiji N. Unified distributed cooperation strategy for multiple object handling robots. Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 4 (of 4), vol. 4, Leuven, Belgium, 1998;3625-30.
7. Kerr J., Roth B. Analysis of multifingered hands. Int J Robotics Res. 4(4):1986;3-17.
8. Kumar V., Waldron K.J. Forced distribution in walking vehicles. Trans ASME J Mech Des. 112(1):1988;90-99.
9. Orin D.E., Oh S.Y. Control of force distribution in robotic mechanisms containing closed kinematic chains. Trans ASME J Dyn Systems Meas Control. 103:1981;134-141.
10. Cheng F.T., Orin O.E. Efficient algorithm for optimal force distribution-the compact-dual LP method. IEEE Trans Robotics Automat. 6(2):1990;178-187.
11. Gardner J.F. Force distribution in walking machines over rough terrain. Trans. ASME J Dyn Systems Meas. Control. 113(4):1991;754-758.
12. Klein C.A., Olson K.W., Pugh D.R. Use of force and attitude sensors for locomotion of a legged vehicle over irregular terrain. Int J Robotics Res. 2(2):1983;3-17.
13. Kwon W., Lee B.H. New optimal force distribution scheme of multiple cooperating robots using dual method. J Intell Robotic Systems: Theory Appl. 21(4):1998;301-326.
14. Kazerooni H. Robust, nonlinear impedance control for robot manipulators. Proceedings of IEEE Conference on Robotics and Automation, vol. 2, 1987.
15. Ploen SR, Park FC. Lie group formulation of the dynamics of cooperating robot systems. Robotics and autonomous systems, vol. 21. Amsterdam, Netherlands: Elsevier Sci B.V., 1997. p. 279.
16. Nakamura Y., Ghodoussi M. Dynamics computation of closed-link robot mechanisms with nonredundant and redundant actuators. IEEE Trans Robotics Automat. 5(3):1989;294-302.
17. Nahon M.A., Angeles J. Optimization of dynamic forces in mechanical hands. J Mech Transm Autom Design. 113(2):1991;167-173.
18. Gu X., Feng C., Liu W., Huang Y., Jiang X., An G., Liu J., Lu G. Dual arm coordination: model analysis and dynamic compensation control method. Control Theory Appl. 11(2):1994;168-176.
19. Hu Y.R., Goldenberg A. Adaptive approach to motion and force control of multiple coordinated robots. ASEM J Dyn Systems Meas Control. 115(1):1993;60-69.
20. Hu Y.R., Goldenberg A. Dynamic control of coordinated redundant robots with torque optimization. Automatica. 29(6):1993;1411-1424.
21. Hogan N. On the stability of manipulators performing contact tasks. IEEE Trans Robotics Automat. 4(6):1988;677-686.
22. Schneider SA, Cannon RH. Object impedance control for cooperative manipulation: theory and experiment results. IEEE 1989 International Conference on Robotics and Automation.
23. Yale G.E., Agrawal B.N. Lyapunov controller for cooperative space manipulators. J Guidance Control Dyn. 21(3):1988;477-484.
24. Pfeffer LE, Cannon RH. Experiments with a dual-armed, cooperative, flexible-drivetrain robot system. Proceedings of the IEEE International Conference on Robotics and Automation, Atlanta, GA, vol. 3, 1993:601-8.
25. Bonitz RG, Hsia TC. Robust dual-arm manipulation of rigid objects via palm grasping theory and experiments. Proceedings of the 1996 IEEE 13th International Conference on Robotics and Automation. Part 4 (of 4) April 22-28, 1996:3047-53.
26. Schneider S.A., Cannon R.H. Jr. Object impedance control for cooperative manipulation: theory and experimental results. IEEE Tran Robotics Automat. 8(3):1992;383-394.
27. Gouo A, Nenchev DN, Yoshida K, Uchiyama M. Dual-arm long-reach manipulators: Noncontact motion control strategies. Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3), vol. 1, Octber 13-17. 1998. p. 449-54.
28. Li T.Y., Latombe J.-C. On-line manipulation planning for two robot arms in a dynamic environment. Int J Robotics Res. 16(2):1997;144-167.
29. Agrawal S.K., Shirumalla S. Kinematics, motion planning and design of a free-floating dual-arm planar manipulator. Mech. Mach Theory. 29(5):1994;691-700.
30. Tarn T.J., Bejczy A.K., De P.K. Analysis of the dynamic ability of two robot arms in object handling. Adv Robotics. 10(3):1996;301-315.
31. Allgower E.L., Georg K. Numerical continuation methods. an introduction:1990;Springer, Berlin.
32. Walker I.D., Freeman R.A., Marcus S.I. Analysis of motion and internal loading of objects grasped by multiple cooperating manipulators. Int J Robotics Res. 10(4):1991;396-409.
33. Lu W.S., Meng Q.H. On optimal force distribution of coordinating manipulators. Int J Robotics Automat. 7(2):1992.
34. Arora J.S. Introduction to optimum design. 1989;McGraw-Hill, Inc. New York.
35. Goldfarb D., Idnani A. A numerically stable dual method for solving strictly convex quadratic programs. Math. Program. 27:1983;1-33.
36. Nahon M.A., Angeles J. Real-time force optimization in parallel kinematic chains under inequality constraints. Proceedings of the 1991 IEEE International Conference on Robotics and Automation. 3:1991;2198-2203.
37. Raven H.H. Automatic control engineering. 1995;McGraw-Hill, Inc. New York.
38. Slotine JJ, Sastry SS. Tracking control of non-linear systems using sliding surfaces with application to robot manipulators. Proceedings of the International Conference on Systems, Man and Cybernetics, 1983:668-71.
39. Elmali H., Olgac N. Robust output tracking control of nonlinear mimo systems via sliding mode technique. Automatica. 28(1):1992;145-151.
40. Slotine J-JE, Hedrick JK. Robust input-output feedback linearization. Proceedings of the Winter Annual Meeting of the American Society of Mechanical Engineers, 1-6 December 1991;33:25-9.