Underactuated Cooperative Manipulators
In this chapter we present control strategies for cooperative manipulators with passive joints. These systems differ from the ones presented earlier because, here, one must control not only the position of the common load being manipulated by the various robots, but also the internal forces in the object to ensure it will not be damaged during the operation. Therefore, we use a hybrid motion and squeeze force controller. The strategy decouples the motion and squeeze force control problems via a Jacobian matrix that describes the relationship between the velocities of the load and the velocities of the actuated joints. The inertia matrices of the underactuated robots are not utilized, so as to reduce the possible influence of modeling errors in the controller performance. At the end of this chapter we also present a method to compute the dynamic load-carrying capacity of cooperative system with passive joints, which is an important measure of the maximum payload that can be manipulated over a given trajectory.
KeywordsJacobian Matrix Joint Torque Cooperative System Actuate Joint Passive Joint
- 3.Caccavale F (1997) Task-space regulation of cooperative manipulators prisma lab technical report 97-04. Università degli Studi di Napoli Federico II, Naples, ItalyGoogle Scholar
- 5.Hirano G, Yamamoto M, Mohri A (2002) Study on cooperative multiple manipulators with passive joints. In: Proceedings of the 2002 IEEE/RSJ international conference on intelligent robot and systems, Lausanne, Switzerland, pp 2855–2860Google Scholar
- 10.Uchiyama M (1998) Multirobots and cooperative systems. In: Siciliano B, Valavanis KP (eds) Control problems in robotics and automation. Springer-Verlag, LondonGoogle Scholar