Cooperative object manipulation using non-model-based multiple impedance control

Proceedings of the IEEE International Conference on Control Applications

Volumn , Issue , 2006, Pages 2878-2883

  Moosavian, S Ali A ^a   Ashtiani, Hadi R ^a  

^a K N TOOSI UNIVERSITY OF TECHNOLOGY   (Iran)

Author keywords

Cooperation; Impedance control; Model based algorithms; Multiple arms

Indexed keywords

CONTROL LAWS; COOPERATING MANIPULATORS; COOPERATION; EFFICIENT ALGORITHM; FEEDBACK LINEARIZATION CONTROL; IMPEDANCE BEHAVIOR; IMPEDANCE CONTROL; MANIPULATED OBJECTS; MODEL-BASED; MODEL-BASED ALGORITHMS; MODEL-BASED CONTROL; MULTIPLE ARMS; MULTIPLE IMPEDANCE CONTROLS; OBJECT MANIPULATION; ONLINE COMPUTATIONS; PROCESS TIME; ROBOTIC SYSTEMS; SYSTEM DYNAMICS; SYSTEM FLEXIBILITY; TRACKING PERFORMANCE;

ALGORITHMS; ERROR ANALYSIS; FEEDBACK LINEARIZATION; FLOW PATTERNS; LAWS AND LEGISLATION; MANIPULATORS; SYSTEM THEORY;

MATHEMATICAL MODELS;

EID: 77952890554     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CACSD-CCA-ISIC.2006.4777095     Document Type: Conference Paper

References (15)

1. M. H. Raibert, and J. J. Craig, "Hybrid Position/Force Control of Manipulators," ASME Journal of Dynamic Systems, Measurement & Control, Vol.126, June 1981, pp. 126-133.
2. O. Khatib, "A Unified Approach for Motion and Force Control of Robot Manipulators: The Operational Space Formulation," IEEE Journal of Robotics and Automation, Vol.RA-3, No. 1, Feb. 1987, pp. 43-53.
3. Y. Nakamura, K. Nagai, and T. Yoshikawa, "Mechanics of Coordinative Manipulation by Multiple Robotic Mechanisms," Proc. of IEEE Int. Conf. on Robotics and Automation, April 1987, pp. 991-998.
4. N. Hogan, "Impedance Control: An Approach to Manipulation -A Three Part Paper," ASME Journal of Dynamic Systems, Measurement, and Control, Vol.107, March 1985, pp. 1-24.
5. H. Seraji, and R. Colbaugh, "Force Tracking in Impedance Control," in Proc. of IEEE Int. Conf. on Robotics and Automation, Atlanta, Georgia, May 1993, pp. 499-506.
6. F. Caccavale, and L. Villani, "Impedance Control for Multi-Arm Manipulators," in Proc. of IEEE Int. Conf. on Decision and Control, Australia, December 2000.
7. L. Biagiotti, H. Liu, G. Hirzinger, and C. Melchiorri, "Cartesian Impedance Control for Dexterous Manipulation," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Las Vegas, Nevada, October, 2003.
8. S. A. Schneider, and R. H. Cannon, "Object Impedance Control for Cooperative Manipulation: Theory and Experimental Results," IEEE Transactions on Robotics and Automation, Vol.8, No. 3, June 1992, pp. 383- 394.
9. D. W. Meer, and S. M. Rock, "Coupled-System Stability of Flexible-Object Impedance Control," in Proc. of the IEEE Int. Conf. on Robotics and Automation, Nagoya, Japan, May 1995, pp. 1839-1845.
10. S. Ali A. Moosavian, and E. Papadopoulos, "On the Control of Space Free-Flyers Using Multiple Impedance Control," in Proc. IEEE Int. Conf. on Robots and Automation, Albuquerque, NM, USA, April 21-27, 1997.
11. S. Ali A. Moosavian, and E. Papadopoulos, "Multiple Impedance Control for Object Manipulation," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Victoria, Canada, Oct. 13-17 1998.
12. S. Ali A. Moosavian, and R. Rastegari, "Disturbance Rejection Analysis of Multiple Impedance Control for Space Free-Flying Robots," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Switzerland, October, 2002.
13. S. Ali A. Moosavian, R. Rastegari., and E. Papadopoulos, "Multiple Impedance Control for Space Free-Flying Robots," AIAA Journal of Guidance, Control, and Dynamics, Vol.28, No. 5, Sept. 2005.
14. S. Ali A. Moosavian, and R. Rastegari, "Force Tracking in Multiple Impedance Control of Space Free- Flyers," Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Takamatsu, Japan, Oct. 31- Nov. 5, 2000.
15. S. Ali A. Moosavian, and E. Papadopoulos, "Control of Space Free-Flyers Using Modified Transpose Jacobian Algorithm," Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Grenoble, France, Sept. 1997.