scholarly journals Adaptive coordinated motion constraint control for cooperative multi-manipulator systems

2022 ◽  
Author(s):  
Chunjian Su ◽  
Min Zhang ◽  
Shuai Zhang ◽  
Sumin Guo ◽  
Rui Wang ◽  
...  
Keyword(s):  
Coordinated Motion ◽  
Constraint Control ◽  
Motion Constraint

scholarly journals Adaptive Coordinated Motion Constraint Control for Cooperative Multi-manipulator Systems

2021 ◽  
Author(s):  
Chunjian Su ◽  
Min Zhang ◽  
Shuai Zhang ◽  
Sumin Guo ◽  
Rui Wang ◽  
...  
Keyword(s):  
Simulation Analysis ◽  
External Disturbance ◽  
Environment Interaction ◽  
Coordinated Motion ◽  
Control Precision ◽  
Drawing Task ◽  
Constraint Control ◽  
Coordination Effect ◽  
High Control ◽  
Motion Constraint

Abstract A cooperative multi-manipulator system is a nonlinear, time-varying, strong coupling system with multiple inputs and outputs. Because of external disturbance, load change and other factors, a cooperative multi-manipulator system needs to address the problems of uncertain environment interaction, feasible control methods and coordinated planning. In this study, the coordinated motion of a multi-manipulator is divided into two types: coupling and superposition motions. An adaptive coordinated motion constraint scheme is proposed for the two different motion forms. The coupled and superposition motions were investigated by coordinating a carrying task and a circle drawing task, respectively, and the effectiveness of the adaptive coordinated motion scheme was verified. Based on the adaptive kinematics constraint algorithm of the multi-manipulator, co-simulation analysis of the multi-manipulator coordinated motion is conducted. Simulation results show that the multi-manipulator preserves the coordination relationship at all points of the trajectory planning path and has a good motion effect. Finally, an experimental platform for a cooperative multi-manipulator system was built to conduct experimental research on the coordinated motion of the multi-manipulator. Experimental results show that the proposed adaptive motion constraint control scheme for cooperative multi-manipulator systems has a good coordination effect, strong adaptivity and high-control precision.

scholarly journals Incorporating model predictive control with fuzzy approximation for robot manipulation under remote center of motion constraint

2021 ◽  
Author(s):  
Hang Su ◽  
Junhao Zhang ◽  
Ziyu She ◽  
Xin Zhang ◽  
Ke Fan ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Model Predictive Control ◽  
Predictive Control ◽  
Robot Manipulator ◽  
Robot Assisted ◽  
External Disturbances ◽  
Fuzzy Approximation ◽  
Control Framework ◽  
Motion Constraint

AbstractRemote center of motion (RCM) constraint has attracted many research interests as one of the key challenges for robot-assisted minimally invasive surgery (RAMIS). Although it has been addressed by many studies, few of them treated the motion constraint with an independent workspace solution, which means they rely on the kinematics of the robot manipulator. This makes it difficult to replicate the solutions on other manipulators, which limits their population. In this paper, we propose a novel control framework by incorporating model predictive control (MPC) with the fuzzy approximation to improve the accuracy under the motion constraint. The fuzzy approximation is introduced to manage the kinematic uncertainties existing in the MPC control. Finally, simulations were performed and analyzed to validate the proposed algorithm. By comparison, the results prove that the proposed algorithm achieved success and satisfying performance in the presence of external disturbances.

Multi-objective constraint control for FCC reactor-regenerator system

1998 ◽  
Vol 22 ◽  
pp. S831-S834 ◽  
Author(s):  
S.H. Yang ◽  
P.W.H. Chung ◽  
X.Z. Wang ◽  
C. McGreavy
Keyword(s):  
Multi Objective ◽  
Constraint Control ◽  
Regenerator System

An Algorithm for Generation of Coordinated Robot Trajectories in Cartesian Space

2013 ◽  
Vol 196 ◽  
pp. 169-180 ◽  
Author(s):  
Adam Słota
Keyword(s):  
Virtual Environment ◽  
Relative Position ◽  
Accuracy Analysis ◽  
Simulation Environment ◽  
Coordinated Motion ◽  
Generation Algorithm ◽  
Cartesian Space ◽  
Position And Orientation ◽  
End Effectors ◽  
Trajectory Generation Algorithm

In the paper a trajectory generation algorithm for two robots’ coordinated motion is presented. Two instances of the algorithm, each for one robot, run in the same time and calculate trajectories’ position and orientation coordinates. Initial and end robots’ end-effectors poses are defined and values of linear and angular speeds are programmed. To minimize relative position and orientation errors an idea of corrective motion is introduced. Trajectory coordinates are calculated as the sum of programmed and corrective motion. The algorithm was implemented in a simulation environment and results of simulation are presented. Static accuracy analysis for general case and stability verification for fixed values of robots’ parameters are described. Finally, an outline of proposed procedure of building a virtual environment for reachability verification and collision checking is presented.

scholarly journals Adaptive constraint control for nonlinear multi-agent systems with undirected graphs

2021 ◽  
Vol 6 (11) ◽  
pp. 12051-12064
Author(s):  
Lu Zhi ◽  
◽  
Jinxia Wu
Keyword(s):  
Control Method ◽  
Control Technique ◽  
Multi Agent Systems ◽  
Distributed Consensus ◽  
Controlled System ◽  
Agent Systems ◽  
Full State ◽  
Constraint Control ◽  
Multi Agent ◽  
System States

<abstract><p>This paper investigates the problem of adaptive distributed consensus control for stochastic multi-agent systems (MASs) with full state constraints. By utilizing adaptive backstepping control technique and barrier Lyapunov function (BLF), an adaptive distributed consensus constraint control method is proposed. The developed control method can ensure that all signals of the controlled system are semi-globally uniformly ultimately bounded (SGUUB) in probability, and outputs of the follower agents keep consensus with the output of leader. In addition, system states are not transgressed their constrained sets. Finally, simulation results are provided to illustrate the feasibility of the developed control algorithm and theorem.</p></abstract>

Motion Coordination of Two Robots in Cartesian Space Based on Mechanical Impedance

2014 ◽  
Vol 613 ◽  
pp. 53-59 ◽  
Author(s):  
Adam Slota
Keyword(s):  
Mechanical Impedance ◽  
Interaction Force ◽  
Linear Increase ◽  
Dimensional Case ◽  
Motion Coordination ◽  
Coordinated Motion ◽  
Simulation Experiments ◽  
Cartesian Space ◽  
Motion Speed ◽  
In Series

Coordinated motion of two robots in Cartesian space is considered in the paper. Coordinated trajectory is generated as the sum of two motions: programmed and corrective. The corrective motion aims at limitation of the interaction force between robots. For calculation of the corrective motion speed the idea of mechanical impedance is used. As a measure of force interactions between robots change of distance between robots TCPs is used. Simulation experiments carried out for one dimensional case show that application of impedance based correctors results in the linear growth of change of distance between robots TCPs for constant difference between robots programmed speeds. Thus a modification of impedance based correctors is proposed. The modification consists in introduction of an integrating element in series with impedance corrector. Simulation tests for the modified correctors provide improved results – magnitude of change of distance is decreased. Linear increase of change of distance for impedance corrector is changed into a constant non zero value, whereas constant non zero value is changed into zero value. Simulation results for two dimensional case of coordinated motion are also presented.

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