Original scientific paper
https://doi.org/10.1080/00051144.2021.1880155
Decentralized force and motion control of multiple cooperative manipulators
Hamid AzizZadeh
Mohammad Bagher Menhaj
Heidar Ali Talebi
Abstract
Decentralized force and motion control of a heavy object with lathing tools, in a cooperative multiple manipulator system is studied in this paper. Interaction of the object with robot manipulators and the environment and interaction of manipulators with each other that produce internal forces in the object are complexities in the system dynamics of cooperative manipulation tasks. In this paper, impedance behaviour between manipulator end-effectors (EE) and
the object is developed to achieve springy links that lead to impedance effect between the object and the environment. Then, by focusing on the interaction effects in the system as well as the role of imposed kinematics and force constraints, each manipulator will have its own controller for coordination tasks, environment force regulation and internal forces minimization, without force/torque sensors in the EE. The relevance of the theoretical findings is illustrated
using simulation results involving three robots manipulating a common object.
Keywords
Cooperative manipulators; internal forces; interaction dynamics; decentralized control; force/motion control; kinematics
Hrčak ID:
258421
URI
Publication date:
30.3.2021.
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