Decentralized Adaptive Coordinated Control of Multiple Robot Arms for Constrained Tasks

2006 ◽  
Vol 18 (5) ◽  
pp. 580-588 ◽  
Author(s):  
Haruhisa Kawasaki ◽  
◽  
Rizauddin Bin Ramli ◽  
Satoshi Ueki
Keyword(s):  
Reference Model ◽  
Coordinated Control ◽  
Rolling Contact ◽  
Stability Of Motion ◽  
Robot Arms ◽  
Control Scheme ◽  
Planar Robot ◽  
End Effectors ◽  
Multiple Robot ◽  
Object Reference

The decentralized adaptive coordinated control of multiple robot arms grasping a common object constrained by a known environment involves the analysis of cases of rigid and rolling contact between end-effectors and object. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. Desired motion of the robot arms is generated by an estimated object reference model. The asymptotic stability of motion is proven by the Lyapunov-like lemma. Experimental results for two planar robot arms with 3 DOF moving a constrained object demonstrate the effectiveness of the control scheme.

Adaptive Coordinated Control of Multiple Robot Arms

2000 ◽  
Vol 33 (27) ◽  
pp. 261-266 ◽  
Author(s):  
Haruhisa Kawasaki ◽  
Toshimi Shimizu ◽  
Satoshi Ito
Keyword(s):  
Coordinated Control ◽  
Robot Arms ◽  
Multiple Robot

scholarly journals Decentralized Adaptive Coordinated Control of Multiple Robot Arms Handling One Object

2005 ◽  
Vol 48 (4) ◽  
pp. 632-639 ◽  
Author(s):  
Haruhisa KAWASAKI ◽  
Rizauddin Bin RAMLI ◽  
Satoshi ITO
Keyword(s):  
Coordinated Control ◽  
Robot Arms ◽  
Multiple Robot

Redundancy Compensation in Control of Multiple Arms

1991 ◽  
Author(s):  
Amir Shirkhodaie ◽  
A. H. Soni
Keyword(s):  
Control Strategy ◽  
Position Control ◽  
Rigid Object ◽  
Common Object ◽  
Object A ◽  
Robot Arms ◽  
Control Scheme ◽  
Reaction Forces ◽  
End Effectors ◽  
The Individual

Abstract During manipulation of an object grasped at N locations by end-effectors of N robots, relaxation of assumption on invariant grasping locations of end-effectors Is too realistic. When coordinating end-effectors take infinitesimal displacements at the contact grasping locations with a rigid object, a slippage occurs which undesirably induces some redundancy in closed form kinematics/dynamics formulation of the entire robotic system. Particularly, in force/position control of multiple coordinating robot arms such an affect produces Inevitable impulsive reaction forces/moments which need to be compensated for in global control strategy of the system. In this paper, we have presented a control strategy with a Dynamic Redundancy Compensator (DRC) for cartesian space control of the coordinating multiple robots manipulating a common object. The proposed control scheme embeds dynamics of the individual coordinating robot arms and dynamically is capable to compensate for the kinematic/dynamic redundancies while preserving optimum forces/torques distribution between the end-effectors of robot arms. The results of study has been demonstrated on control of two robot arms manipulating a common object through prescribed coordinated motions.

Adaptive decentralized coordinated control of multiple robot arms

2003 ◽  
Vol 36 (17) ◽  
pp. 387-392 ◽  
Author(s):  
Haruhisa Kawasaki ◽  
Satoshi Ito ◽  
Rizauddin Bin Ramli
Keyword(s):  
Coordinated Control ◽  
Robot Arms ◽  
Multiple Robot

Adaptive Coordinated Control of Multi-Fingered Robot Hand

2009 ◽  
Vol 21 (1) ◽  
pp. 36-43 ◽  
Author(s):  
Satoshi Ueki ◽  
◽  
Haruhisa Kawasaki ◽  
Tetsuya Mouri
Keyword(s):  
Contact Force ◽  
Coordinated Control ◽  
Object Motion ◽  
Rolling Contact ◽  
Asymptotic Convergence ◽  
Robot Hand ◽  
Rigid Object ◽  
Reference Velocity ◽  
Controller Performance ◽  
Object Reference

This paper presents an adaptive control for a multi-fingered robot hand with rolling contact to a grasped rigid object, and demonstrates experimental results. In the proposed controller, the dynamic parameters of both the object and multi-fingered robot hand are estimated adaptively. The joint reference velocity consists of filtered contact force error, integral contact force error, and object reference velocity. The asymptotic convergence of object motion and contact force was proven by the Lyapunov-like Lemma. The controller performance is shown in experiments implemented on Gifu Hand III.

Decentralized adaptive coordinated control of multiple robot arms without using a force sensor

Automatica ◽  
2006 ◽  
Vol 42 (3) ◽  
pp. 481-488 ◽  
Author(s):  
Haruhisa Kawasaki ◽  
Satoshi Ueki ◽  
Satoshi Ito
Keyword(s):  
Coordinated Control ◽  
Force Sensor ◽  
Robot Arms ◽  
Multiple Robot

Optimal Model Reference Control Scheme Design for Nonlinear Strict-Feedback Systems

2020 ◽  
Vol 38 (9A) ◽  
pp. 1342-1351
Author(s):  
Musadaq A. Hadi ◽  
Hazem I. Ali
Keyword(s):  
Reference Model ◽  
Feedback System ◽  
Optimization Method ◽  
Feedback Systems ◽  
Model Reference ◽  
Scheme Design ◽  
Model Reference Control ◽  
Control Scheme ◽  
Lyapunov Stability Analysis ◽  
Strict Feedback

In this paper, a new design of the model reference control scheme is proposed in a class of nonlinear strict-feedback system. First, the system is analyzed using Lyapunov stability analysis. Next, a model reference is used to improve system performance. Then, the Integral Square Error (ISE) is considered as a cost function to drive the error between the reference model and the system to zero. After that, a powerful metaheuristic optimization method is used to optimize the parameters of the proposed controller. Finally, the results show that the proposed controller can effectively compensate for the strictly-feedback nonlinear system with more desirable performance.

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