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An Adaptive-Robust Control Approach for Trajectory Tracking of two 5 DOF Cooperating Robot Manipulators Moving a Rigid Payload | ||
| AUT Journal of Modeling and Simulation | ||
| مقاله 1، دوره 41، شماره 1، تیر 2009، صفحه 1-9 اصل مقاله (399.62 K) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/miscj.2009.214 | ||
| نویسندگان | ||
| M. Azadii؛ M. Eghtesadii | ||
| چکیده | ||
| In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/moments acting on the object by the robots, using different Jacobian matrices, are derived. The proposed control method is a position control approach; therefore, it does not need the complexity of measurement of forces and moments at the contact points. Simulation results are provided to illustrate the performance of the control algorithm. The robustness of the proposed control scheme is verified in the presence of disturbance and uncertainty. | ||
| کلیدواژه‌ها | ||
| Cooperative Robots –Adaptive-Robust Control Scheme –5 DOF robot manipulators– Trajectory Tracking | ||
| عنوان مقاله [English] | ||
| An Adaptive-Robust Control Approach for Trajectory Tracking of two 5 DOF Cooperating Robot Manipulators Moving a Rigid Payload | ||
| چکیده [English] | ||
| In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/moments acting on the object by the robots, using different Jacobian matrices, are derived. The proposed control method is a position control approach; therefore, it does not need the complexity of measurement of forces and moments at the contact points. Simulation results are provided to illustrate the performance of the control algorithm. The robustness of the proposed control scheme is verified in the presence of disturbance and uncertainty. | ||
| کلیدواژه‌ها [English] | ||
| An Adaptive-Robust Control Approach for Trajectory Tracking of two 5 DOF Cooperating Robot Manipulators Moving a Rigid Payload | ||
| مراجع | ||
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[1] S. Hayati, "Hybrid position-force control of multi arm cooperating robots", Proc. IEEE International conference on robotics and automation, pp. 82-89, 1986. [2] M. H. Raibert, and J. J. Craig, "Hybrid position force control of manipulators", ASME Journal of dynamic system measurement, and control, vol. 108, No. 3, pp.126-133, 1981. [3] O. Khatib, “Object manipulation in a multi-effector robot system”, Robotics Research: the Fourth International Symposium, pp. 137-144, 1988. [4] Y. Nakamura, K. Nagai and T. Yoshikawa, “Dynamic and stability in coordination of multiple robotic mechanism”, International Journal of Robotics Research, Vol. 8, No. 2, pp. 44-61, 1989. [5] P. Hsu, “Control of multi-manipulator systems – trajectory tracking, load distribution, internal force control, and decentralized architecture”, Proc. IEEE Int. Conference on Robotics and Automation, pp. 1234-1239, 1989. [6] M. Uchiyama and P. Dauchez, “A symmetric hybrid position/force control scheme for the coordination of two robots”, Proc. IEEE International Conference on Robotics and Automation, Vol. 1, pp. 350-356, 1988. [7] K. Kreutz and A. Lokshin, “Load balancing and closed chain multiple arm control”, Proc. American Control Conference, pp. 2148-2155, 1988. [8] M. Itoh, T. Murakami and K. Ohnisni, “Decentralized control of cooperative manipulators based on virtual force transmission algorithm”, Proceedings of 1999 IEEE conference, pp. 874–889, USA: Kohala Coast-Island of Havai, 1999. | ||
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