Coordinated control in a multi-manipulator workcell

Abstract

We have established an intuitively sound description of a workcell consisting of manipulators cooperating on tasks. The focus of attention is on the interaction of the tool with the workpiece. The critical quantities to be controlled are the differential distance and differential approach velocity. After contact, interacting force is also important. We present a unified control structure appropriate for manipulator cooperation, and present a systematic design procedure consistent that control structure. The design procedure applies unchanged to force control. We suggest use of the Bessel prototype as a generalization of critical damping for pole placement in such high-order systems.